diff --git a/src/project_file.cpp b/src/project_file.cpp
index 44fbead..9828537 100644
--- a/src/project_file.cpp
+++ b/src/project_file.cpp
@@ -4,16 +4,43 @@ Date: 22nd of November 2022
 Authors: Adrien Lasserre (adrien.lasserre@ecam.fr) and Gwenn Durpoix-Espinasson (g.durpoix-espinasson@ecam.fr)
 
 Context: This cpp file is part of the second lab of the Advanced_Robotics course at ECAM. This course is taught by Guillaume Gibert (guillaume.gibert@ecam.fr).
-		The main goal of this file is to create a ROS node publishing on the /cmd_vel topic of a Turtlebot3 educational robot.
+		The main goal of this file is to create a ROS node publishing on the /cmd_vel topic of a Turtlebot3 educational robot. It also subscribes to /scan to detect
+		the obstacles on the way of the robot.
 		
 */
 
 
 #include <ros/ros.h>
 #include <geometry_msgs/Twist.h>
+#include <sensor_msgs/LaserScan.h>
 
 //max values for lin vel 0.22 and angular vel 2.84
 
+bool obstacle_present=false;
+
+void obstacleCallback(const sensor_msgs::LaserScan& message){
+	
+	float thresh_min=0.12;
+	float thresh_max=0.25;
+	
+	// this for-loop constrains the values of the scan using tresh_min and tresh_max
+	for(int count = 0; count < 15; count++){
+		
+		if( (message.ranges[count] >=thresh_min && message.ranges[count]<= thresh_max) || (message.ranges[359-count] >=thresh_min && message.ranges[359-count]<= thresh_max)){
+			
+			obstacle_present=true;
+			//break;
+		}
+		else{
+			obstacle_present=false;
+		}
+		
+	}
+	
+	
+}
+
+	
 void walk(geometry_msgs::Twist& twist, float speed_input){
 
     //intialisation of the values for the twist messages
@@ -50,14 +77,21 @@ int main(int argc, char** argv)
 	ros::NodeHandle nh;
 	ros::Publisher commanderPublisher =
 		nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
-	ros::Rate loopRate(10);
+	ros::Subscriber commanderSubscriber =
+		nh.subscribe("scan", 1, obstacleCallback);
+	ros::Rate loopRate(5);
 	
 	while(ros::ok()){
 
                 geometry_msgs::Twist twist;
-
-                turn_random(twist, 1);
-
+		
+		if(obstacle_present==true){
+			turn_random(twist, 2);
+		}
+		else{
+			walk(twist, 0.1);
+		}
+		
                 commanderPublisher.publish(twist);
 		ros::spinOnce();
 		loopRate.sleep();