Changed the forward behavior in the control_motion node: will travel only a pre-defined length. Will stop the behavior if detects wall to the left/rigth (both sensors on the same side detect obstacle closer than a pre-defined length) or any obstacle up front (one of the two forward facing ir detecting an obstacle closer than a pre-defined length). Added the ability for changing behavior via message, as well as setting the rotation reference and maximum distance to be travelled while on the forward behavior.