Hello, I'm using kinetic ros on Linux Mint and I'd like to know if there is any package that meets the following requirements:

Architecture: either subsumptionofreactivebehaviours or TimedFSMofreactive_behaviours Map "D": robot wanders at random until find wall, then follows wall forever (inside wall) Map "D": robot wanders at random until find wall, then follows wall forever (outside wall)

Any help would be great. Thanks in advance!