Obstacle avoidance robot behavior uses the power of subscribers and publishers. By combining sensor data processing with motion control, we enable robots to perceive their environment and respond intelligently. 

In this Open Class, we'll create a ROS 2 node that combines LiDAR sensing with velocity control to implement naive obstacle avoidance behavior. We'll build a node that subscribes to laser scan data, processes range measurements to detect obstacles, and publishes velocity commands to steer the robot away from collisions. The robot will autonomously navigate by moving forward when paths are clear and turning strategically when obstacles appear.