Re$-$write this node to do more than just go straight, it should head toward the detected person without hitting any obstacles that might get in its way.

Here is what I have

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

import rospy

from geometry$\_$msgs$.$msg import Twist

from sensor$\_$msgs$.$msg import LaserScan

class RobotController:

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

$$ # Initialize the ROS node

$$ rospy.init$\_$node$(\text{'}$robot$\_$controller', anonymous$=$True$)$

$$ self.velocity$\_$publisher $=$ rospy.Publisher$(\text{'}/$cmd$\_$vel', Twist, queue$\_$size$=10)$

$$ self.laser$\_$subscriber $=$ rospy.Subscriber$(\text{'}/$scan$\text{'},$ LaserScan, self.laser$\_$callback$)$

$$ self.move$\_$cmd $=$ Twist$()$

$$ self.obstacle$\_$detected $=$ False

$$ self.rate $=$ rospy.Rate$(10)$

$$ def laser$\_$callback$($self$,$ data$)$:

$$ valid$\_$ranges $=[$r for r in data.ranges if r $!=$ float$(\text{'}$Inf$\text{'})$ and r $!=$ float$(\text{'}$NaN$\text{'})]$

$$

$$ if valid$\_$ranges:

$$ mid $=$ len$($valid$\_$ranges$)//2$

$$ front$\_$range $=$ valid$\_$ranges$[$mid $-5$ : mid $+5]$

$$ if front$\_$range and min$($front$\_$range$)<0\mathrm{.}5$:

$$ self.obstacle$\_$detected $=$ True

$$ else:

$$ self.obstacle$\_$detected $=$ False

$$ else:

$$ self.obstacle$\_$detected $=$ False

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

$$ while not rospy.is$\_$shutdown$()$:

$$ if self.obstacle$\_$detected:

$$ # Stop the robot

$$ self.move$\_$cmd$.$linear.x $=0\mathrm{.}0$

$$ self.move$\_$cmd$.$angular.z $=0\mathrm{.}0$

$$ rospy.loginfo$("$Obstacle detected! Stopping the robot."$)$

$$ else:

$$ # Move forward

$$ self.move$\_$cmd$.$linear.x $=0\mathrm{.}2$

$$ self.move$\_$cmd$.$angular.z $=0\mathrm{.}0$

$$ rospy.loginfo$("$Moving forward."$)$

$$ self.velocity$\_$publisher.publish$($self$.$move$\_$cmd$)$

$$ self.rate.sleep$()$

if $\_\_$name$\_\_==\text{'}\_\_$main$\_\_\text{'}$:

$$ try:

$$ controller $=$ RobotController$()$

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

$$ except rospy.ROSInterruptException:

$$ pass