Recently participated in the RCJ 2021 Simulation Demonstration Mini Challenge and I must say the experience and challenge were amazing. The challenge was done in participation with the Argentinian team Titan.
We weren't given distance sensors so had to extrapolate the distance from the wall using the camera.

The code is OpenSource and available at https://github.com/s3r5-robotics/SimulationDemonstration-2021-MiniChallenge