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