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I want to implement a wall following controller for my TurtleBot3 (with ROS system).

sensors which I have on the robot: lidar(360) and optional 2 ultrasonic sensors on the side (1 on left and the other one on right).

Can you recommend me ways the break the mission to tasks and how should I do it? (what's my option to choose from in order to complete the mission)

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    $\begingroup$ start by experimenting $\endgroup$ – jsotola Oct 11 at 1:25
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Just check out the bug-algorithms like here

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You can first map the room using any of the mapping or explorer packages on ros.

Save the map.

Use OpenCV to detect walls and corners in the map.

Extract these pixel coordinates to send navigation goals using move_base on ROS.

You won't necessarily need ultrasonic for the purpose, just having the lidar can do the job, but it might be a good addition to avoid accidentally bumping into the wall.

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