Running the wall following controller

In order to run the controller you need to load the code defining the Kalman filter as well as the controller itself. The source code can be found at $VULCAN/examples/kalman-filter.scm and $VULCAN/examples/right-wall-bf.scm. To run the code,

top[3]=> (set! mc (bf-controller my-robot  2 0.15 (sqrt (* 0.15 4)) 0.5))
top[4]=> (start-task mc #f)
....
top[5] => (finish mc 'succeed)

You can use the system handle *mc-handle* to trace the controller while running (use (whs-trace *mc-handle*)).