New logic for objects found at the front. Objects are not clearly defined in this case. Might be an evil wall or an object. It can be a wall at the front though
New logic for objects at front is done. In this case the behaviour will be the same if the flag for turning around is 1 or 0
Merge branch 'mapping_theta' of https://github.com/TheiaRobo/Theia into mapping_theta