/**
* Call back method for laser work out the avoidance logic for Cat
*/
void callBackLaserScan(const sensor_msgs::LaserScan msg) {
cat.stageLaser_callback(msg);//call supercalss laser call back for detection case work out
if (cat.getAvoidanceCase()!=Entity::NONE&&!cat.isRotating()) {//check if there is need to avoid obstacle
if(cat.getCriticalIntensity()!=2&&cat.getAvoidanceQueueSize()==0&&cat.getObstacleStatus().compare("Obstacle nearby")!=0){
cat.setObstacleStatus("Obstacle nearby");
cat.avoidObstacle(2.5,0.5);//call avoid obstacle method in entity to avoid obstacle
}else if (cat.getMinDistance()<0.7&&cat.getCriticalIntensity()>=1&&cat.getAvoidanceQueueSize()>0){
cat.addMovementFront("forward_x",0,0,1);//halt movement if already have obstacle
}
cat.move();
}else{
cat.setObstacleStatus("No obstacles");
}
}
