Sphero Project Only Goes Forwards?

I am currently trying to get Sphero out of the maze, but I can’t for the life of me figure out why it isn’t working. I am trying to use the code given for the project - with changes to some of the code to compile correctly - but for some reason Sphero only wants to go forward and bump into the wall constantly. No direction alteration whatsoever using the code given. My working theory is the crash detection isn’t set properly. Here is my cwd:

Hi @zwlevy,
Try to troubleshoot a bit deeper and try and find out what is not working. You can always add
in your code to output variables. Use rostopic echo to see if topics work as intended.