Steering algorithm using odometry. For mobot, "odom" is perfect. Neede to relax this assumption.
If start with good initial conditions, linear steering algorithm will do a good job. Can compare feedback controller to open-loop controller.
Start up gazebo, load the mobot model, desired-state publisher, desired-state client, and linear-steering algorithm.
roslaunch gazebo_ros empty_world.launch
roslaunch mobot_urdf mobot_w_lidar.launch
roslaunch lin_steering_gamma lin_steering_gamma.launch