behaviour based robotics+ obstacle avoidance+Range Sensor

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Hello , I am new to ROS and my task is as following :-

*Write a ROS node(C++) with a local reactive navigation behavior of a mobile robot Run this node within a ROS simulation environment. The node should communicate with the robot driver via messages.*

My professor told to use Sensor Based inputs and the robot should avoid the obstacles reactively.Means like we humans do.The robot should not behave in a particular way like moving left or right but should react on the fly after it sense the obstacle.

Your help will be highly appreciated.