Added different parameters for aligning and wall following, made controllers a little more generic
Removed old code
Renamed constants for following to a prefixed following_ name. Fixed so the node is killable by checking ros::ok in the following wall command executer. Tuned the aligning a bit.
Added alignment streak counter. Changed buffers to size 1
Added gedit files to gitignore
Readded alignment default parameter values. Changed w transofmration to controller instead of publish