use pid control
add codes for pid control
adjust gain and fix move base bug
for debug
quite smooth on laptop
gain for laptop
add feedback gain related to distant from previous, need ot test on real robot
fix mistake of calc vector-angle
seperate too close warning and ik unsolved warning
fix move-base rotate direction and action after hold-arm-move-base
add check-time gap for wireless
Merge pull request #6 from chiwunau/use_pid_control

Use pid control