Changes made:

assignment_2/AlphaMale1996_pid_control/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

assignment_2/AlphaMale1996_pid_control/Makefile

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+include $(shell rospack find mk)/cmake.mk

assignment_2/AlphaMale1996_pid_control/Planar.py

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+#!/usr/bin/env python
+
+PKG = 'seabotix'
+
+from pid import PID
+import roslib; roslib.load_manifest(PKG)
+import rospy
+from kraken_msgs.msg import thrusterData6Thruster
+from kraken_msgs.msg import thrusterData4Thruster
+from kraken_msgs.msg import positionData
+from resources import topicHeader
+import numpy as np
+from math import *
+from std_msgs.msg import Float64
+from geometry_msgs.msg import Pose
+POS = PID()
+
+#Defining global variables
+Curr_x    = 0.0
+Goal_x    = 0.0
+Base_x    = 0.0  
+prevError = 0.0
+errorI    = 0.0
+errorP    = 0.0
+errorD    = 0.0
+out       = 0.0 
+FIRST_ITERATION = True
+
+
+def posCB(dataIn):
+	global Curr_x
+	global Base_x
+	global prevError
+	global errorD
+	global errorI
+	global errorP
+	global FIRST_ITERATION
+	global out
+
+	if FIRST_ITERATION:
+		Base_x = dataIn.position.x
+		FIRST_ITERATION = False
+
+	Curr_x = dataIn.position.x
+	print 'Position ',Curr_x,' : ',Base_x
+	prevError = errorP
+	print 'Error ',errorP
+	errorP = Goal_x - Curr_x
+	errorI = errorP + prevError
+	errorD = errorP - prevError
+	out = POS.k[0]*errorP + POS.k[1]*errorD + POS.k[2]*errorI
+
+thruster6Data = thrusterData6Thruster()
+thruster4Data = thrusterData4Thruster()
+
+def runPLANAR():
+
+	global Goal_x
+
+
+	print 'Enter the goal position : '
+	Goal_x = float(raw_input())
+	rospy.init_node('Control', anonymous=True)	
+	sub = rospy.Subscriber("/g500/pose", Pose, posCB)
+	pub4 = rospy.Publisher(topicHeader.CONTROL_PID_THRUSTER4, thrusterData4Thruster, queue_size = 2)
+	pub6 = rospy.Publisher(topicHeader.CONTROL_PID_THRUSTER6, thrusterData6Thruster, queue_size = 2)
+	puberror = rospy.Publisher('ErrorPose', Float64, queue_size = 2)
+	r = rospy.Rate(10)
+
+	while not rospy.is_shutdown():
+
+		thruster6Data.data[0] = 0.0
+		thruster6Data.data[1] = 0.0
+		thruster6Data.data[2] = 0.0
+		thruster6Data.data[3] = 0.0
+
+		thruster6Data.data[4] = out
+		thruster6Data.data[5] = out
+
+		thruster4Data.data[0] = thruster6Data.data[0]
+		thruster4Data.data[1] = thruster6Data.data[1]
+		thruster4Data.data[2] = thruster6Data.data[4]
+		thruster4Data.data[3] = thruster6Data.data[5]
+
+		pub4.publish(thruster4Data)
+		pub6.publish(thruster6Data)
+		puberror.publish(errorP)		
+
+		r.sleep()
+
+