Robot that wanders a wall

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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 subsumption_of_reactive_behaviours or Timed_FSM_of_reactive_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!