Merge pull request #20 from mlosch/master

Major refactory.
Added another p controller for the case in which the robot is too close to a wall
Merge pull request #21 from marro10/master

Added another p controller for the case in which the robot is too close ...
added missing package that might result in compiler error
Wall follower almost working. Issue when the robot is too close to the right wall
add forward controller to adapter