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 __   __   _    _     ____      _____    _    _   
 \ \\/ // | || | ||  |  _ \\   |  ___|| | || | || 
  \   //  | || | ||  | |_| ||  | ||__   | || | || 
  / . \\  | \\_/ ||  | .  //   | ||__   | \\_/ || 
 /_//\_\\  \____//   |_|\_\\   |_____||  \____//  
 `-`  --`   `---`    `-` --`   `-----`    `---`

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Text this: ROS based obstacle avoidance