Can you rewrite my code as ROS Node

#$!/$usr$/$bin$/$env python

class Robot:

def $\_\_$init$\_\_($self$)$:

# Initial position, facing upwards $($can be any initial direction$)$

self.position $=[0,0]$

self.direction $=\text{'}$up$\text{'}$ # Can be $\text{'}$up$\text{'},$ 'down', 'left', or 'right'

def move$\_$forward$($self$)$:

$"""$Move the robot one step forward in the current direction."""

if self.direction $==\text{'}$up$\text{'}$:

self.position$[1]+=1$

elif self.direction $==$ 'down':

self.position$[1]-=1$

elif self.direction $==$ 'left':

self.position$[0]-=1$

elif self.direction $==$ 'right':

self.position$[0]+=1$

print$($f$"$Moved forward to position $\{$self$.$position$\}")$

def turn$\_$left$($self$)$:

$"""$Turn the robot $90$ degrees to the left."""

directions $=[\text{'}$up$\text{'},$ 'left', 'down', 'right'$]$

self.direction $=$ directions$[($directions$.$index$($self$.$direction$)+1)\%4]$

print$($f$"$Turned left. Now facing $\{$self$.$direction$\}")$

def turn$\_$right$($self$)$:

$"""$Turn the robot $90$ degrees to the right."""

directions $=[\text{'}$up$\text{'},$ 'right', 'down', 'left'$]$

self.direction $=$ directions$[($directions$.$index$($self$.$direction$)+1)\%4]$

print$($f$"$Turned right. Now facing $\{$self$.$direction$\}")$

def detect$\_$obstacle$($self$,$ direction$=$'front'$)$:

$"""$Simulate obstacle detection. In a real robot, this would use sensors$."""$

# Replace with actual sensor reading logic $($this is a simulation$).$

import random

return random.choice$([$True$,$ False$])$ # Randomly returns True $($obstacle$)$ or False $($no obstacle$)$

def decide$\_$direction$($self$)$:

$"""$Decide whether to turn left, right, or continue straight."""

# Check for obstacles in front

front$\_$obstacle $=$ self.detect$\_$obstacle$(\text{'}$front$\text{'})$

if front$\_$obstacle:

print$("$Obstacle detected in front. Checking sides..."$)$

# Check for obstacles on left and right

left$\_$obstacle $=$ self.detect$\_$obstacle$(\text{'}$left$\text{'})$

right$\_$obstacle $=$ self.detect$\_$obstacle$(\text{'}$right$\text{'})$

if left$\_$obstacle and not right$\_$obstacle:

print$("$Turning right, because left is blocked."$)$

self.turn$\_$right$()$

elif right$\_$obstacle and not left$\_$obstacle:

print$("$Turning left, because right is blocked."$)$

self.turn$\_$left$()$

elif not left$\_$obstacle and not right$\_$obstacle:

# Both sides are clear, can choose either direction

print$("$Both sides are clear. Turning left by default."$)$

self.turn$\_$left$()$

else:

# Both sides have obstacles

print$("$Both sides are blocked, turning right as a fallback."$)$

self.turn$\_$right$()$

else:

print$("$No obstacle in front, moving forward."$)$

self.move$\_$forward$()$

def run$($self$)$:

$"""$Main method to run the robot's behavior."""

# For example, let the robot run for $10$ steps $($or until an exit condition is satisfied$)$

for $\_$ in range$(10)$:

self.decide$\_$direction$()$