Merge pull request #1 from qiqiapple/master

Set up a maze follower and other modifications
Creates a class
Change in limits to decide state
Changed such that it does not stay in the same state
added a loop_rate
Makes the robot keep a distance to the walls of 8 cm
Changed angular velocity for turn
Removes error in turn function
Makes use of different lop rates
Removes unused uncomments
Removes ROS_INFO
Merge pull request #2 from JohanJohansson/master

Updated from Johan and Qi
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