front_sensor_sub: Subscribes to the front sensor topic. rear_sensor_sub: Subscribes to the rear sensor topic. cmd_publisher: Publishes aggregated velocity commands.

Merge data from both sensors. Compute a safe path and publish commands to avoid obstacles detected by any of the sensors.

sensor_subscriber: Subscribes to sensor data (e.g., /scan for LiDAR). cmd_publisher: Publishes velocity commands to avoid obstacles.

Read sensor data and detect obstacles within a certain range. Publish velocity commands to steer the robot away from obstacles.

sensor_subscriber: Subscribes to the sensor topic to get distance measurements. cmd_publisher: Publishes velocity commands to follow the wall.

Detect the distance to the wall. Adjust the robot's path to maintain a constant distance from the wall.

sensor_subscriber: Subscribes to the sensor topic. cmd_publisher: Publishes velocity commands to avoid both static and dynamic obstacles.

Track moving obstacles using consecutive sensor readings. Adjust the robot's path dynamically to avoid collisions with moving obstacles.

grid_subscriber: Subscribes to an occupancy grid topic (e.g., /map). cmd_publisher: Publishes navigation commands based on the grid.

Read the occupancy grid and identify free and occupied cells. Plan a path through the free cells and publish commands to follow the path while avoiding obstacles.