# Yaw problem in my wall following algorithm

Hi,

I'm trying to create a wall following algorithm, but I'm having some problem. Essentially my code use laser to extract a line and calculate the slope (locally to the robot, so from 0 to 2*pi) but to make the control I need the robot yaw (0 to 3.14 and -3.14 to 0) so when I have a negative yaw for example -1.59 and a slope of 1.61 my error that is error=(slope-yaw). Causes the robot turn to the wrong direction :(

Somebody already have the same problem with angles in ROS ?

Gabriel Oliveira