(task_handler_layer) Fix line detection and line following nodes
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pkhrag commented
Right now our bot stops the thrusters on detecting the line but goes on drifting due to inertia and the line following node just take the angle and align it to the angle of the line. By this our bot gets displaced and it aligns with the line but the center is not at the line. @siddsax you need to fix this problem. What we can do is first align the bot to the line and then move the bot sway until the line center and the bot center coincides. The direction of sway can be obtained by the position and the angle of the detected line.