Added new bagfile testing the /robot_turn topic
Fixes some errors
Added comments for functions
Made changes to be tested for turning around wall when harder to detect.
Some more changes for tests
removed unused code
Remove some testcode
Adds function for waiting for the robot to not start until it gets sensor readings
fixes som variable name errors
Changes to be tested
Change of conditions for when to turn
Changes which make the robot navigate better
New bag file added
Fixed merge conflict
Merge branch 'JohanJohansson-master'