auv_geometric_tracking_controller saturates fin angles instead of normalizing them

[jzhu1234]

In auv_geometric_tracking_controller.py, lines 284-287, I believe the code is supposed to normalize fin angles. However, it is doing the opposite and is increasing the fin angles.

Original: if max_angle >= self.max_fin_angle: fins = fins * max_angle / self.max_fin_angle -> fins * (some value greater than or equal to 1)

Correction: if max_angle >= self.max_fin_angle: fins = fins * self.max_fin_angle / max_angle -> fins * (Between 0 to 1)

[musamarcusso]

Hi @jzhu1234, thanks for the report. I will have a look into this issue right away.

[pxalcantara]

@musamarcusso @jzhu1234 Could we close this issue?