Completed P Controller for Pose to Pose Control

[Andy-Li308]

Drives the robot from its start position to x= 5, y = 5, with an angle of 90 degrees using P control implimented in ROS. Output graphs showing robot path and x, y errors over time can be found under the plots/ folder.

[Andy-Li308]

Hi Praneeth, I've made the changes that you mentioned, the controller node now has ROS2 parameters for all the respective controller parameters that can be set and changed in the launch file without having to recompile the C++ source code. In addition, the angle wrapping logic has been improved so that it is now O(1) time complexity, and the robots logging data is now stored in a vector which is then copied into the .csv file in the destructor. This avoid writing to the file on every single iteration of the loop. Let me know what you think and if you have any other comments!