The goal of this project is to design a reactive robot controller using ROS and Gazebo to navigate a maze-like environment. The robot should be able to navigate safely and effectively, avoiding collisions with obstacles and circulating within the maze.

The robot's behavior is based on a reflex-based controller that consists of two sub-behaviors:

• Going straight when no obstacles are present.
• Making turns to avoid collisions with obstacles in its path.

• Safe Navigation: The robot is designed to avoid collisions with obstacles, ensuring safe movement within the maze.
• Effective Navigation: The robot aims to navigate the maze effectively by continuously circulating in the maze, following a feasible tour path.
• Fast and Smooth Motion: The controller is optimized to provide fast and smooth motion for efficient maze navigation.

To use this project, follow these steps:

1. Install ROS and Gazebo on your system if you haven't already.

2. Create a new ROS workspace and clone this project into the src directory.

3. Build the ROS package using catkin_make.

4. Launch the maze simulation environment in Gazebo.

5. Run the velocity-controller node to control the robot's movement.

6. Run the obstacle-detector node to process sensor data and build the obstacle map.

7. Observe the robot's navigation behavior and monitor its performance in the maze.