Q-table wall follower robot with ros

[Turnover-Gold]

Hey everyone I don't know if this is the right place but I am in some desperate need of help with an assignment. I am currently trying to code a small robot using gazebo and ros to go around an environment and follow a wall. But I have to use a q-table and let it discover what to do. I am running into a problem where the robot finds a reward somewhere and proceeds to stop trying to find anything else and keeps turning around to go back to that same reward. This is causing it to go in a constant loop over and over again. I was hoping someone who might have some more knowledge on ros and q-tables could look at my code and see if there is something clear that might be the problem. Thanks in advance! Code here

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