Corrects which ir sensors are used when following right wall
Adds launch file for running all the nodes for maze movement
Adds executables for turn controller and wall following. Also adds a service message.
Makes the maze follower use the nodes turn_controller and wall_following_controller insted of have all the code itself
Adds the wall_following_controller
Adds .user
Makes use of the encoders when turning
Adds the FollowWall srv
Updates the nodes
Adds message to reset PWM values
Turn controll can reset the pwm values before turning
Swapped which sensors used when following wall
Minor updates
Makes the follow srv use the correct type
Changes loop_rate when turning. Adds return statement
Decreases the front treshold
Corrects error in statement decision
Small corrections
Change of value for turn
Adds a reset after turn