The BumpGoNode class represents a ROS 2 node responsible for autonomous robot navigation based on laser scan data. The class implements a finite state machine to control the robot's behavior, including forward movement, backward movement, turning, and stopping. Key attributes include the current state, timestamps for state transitions, and durations for turning, backing, and scan timeouts. The class subscribes to laser scan messages and updates its internal state accordingly. The control_cycle method orchestrates the robot's actions based on the current state, obstacle detection, and timeout conditions. Public methods such as is_obstacle_detected and is_scan_timeout provide checks for specific conditions, and publish_velocity is responsible for sending velocity commands to the robot. Overall, the BumpGoNode class encapsulates the logic for a reactive robot navigation system that responds to environmental cues and adjusts its behavior accordingly.