#include?“ros/ros.h“
#include?“geometry_msgs/Twist.h“
#include?“turtlesim/Pose.h“
#include?

using?namespace?std;

ros::Publisher?velocity_publisher;
ros::Subscriber?pose_subscriber;	//?to?determine?the?position?for?turning?the?robot?in?an?absolute?orientation?-->?in?the?setDesiredOrientation?fn
turtlesim::Pose?turtlesim_pose;

const?double?PI?=?3.14159265359;

void?move（double?speed?double?distance?bool?isForward）;
void?rotate（double?angular_speed?double?angle?bool?cloclwise）;	//this?will?rotate?the?turtle?at?specified?angle?from?its?current?angle
double?degrees2radians（double?angle_in_degrees）;		
double?setDesiredOrientation（double?desired_angle_radians）;	//this?will?rotate?the?turtle?at?an?absolute?angle?whatever?its?current?angle?is
void?poseCallback（const?turtlesim::Pose::ConstPtr?&?pose_message）;	//Callback?fn?everytime?the?turtle?pose?msg?is?published?over?the?/turtle1/pose?topic.

int?main（int?argc?char?**argv）
{
	//?Initiate?new?ROS?node?named?“talker“
	ros::init（argc?argv?“turtlesim_cleaner“）;
	ros::NodeHandle?n;
	double?speed?angular_speed;
	double?distance?angle;
	bool?isForward?clockwise;

	velocity_publisher?=?n.advertise（“/turtle1/cmd_vel“?1000）;
	pose_subscriber?=?n.subscribe（“/turtle1/pose“?10?poseCallback）;	//call?poseCallback?everytime?the?turtle?pose?msg?is?published?over?the?/turtle1/pose?topic.
	//ros::Rate?loop_rate（10）;

	//	/turtle1/cmd_vel?is?the?Topic?name
	//	/geometry_msgs::Twist?is?the?msg?type?
	ROS_INFO（“\n\n\n?********START?TESTING*********\n“）;
	/*
	cout<<“enter?speed:?“;
	cin>>speed;
	cout<<“enter?distance:?“;
	cin>>distance;
	cout<<“forward?:?“;
	cin>>isForward;
	move（speed?distance?isForward）;
						//this?is?to?move?and?rotate?the?robot?as?the?user.
	cout<<“enter?angular?velocity:?“;
	cin>>angular_speed;
	cout<<“enter?angle:?“;
	cin>>angle;
	cout<<“Clockwise?:?“;
	cin>>clockwise;
	rotate（degrees2radians（angular_speed）?degrees2radians（angle）?clockwise）;
	*/

	setDesiredOrientation（degrees2radians（120））;
	ros::Rate?loop_rate（0.5）;
	loop_rate.sleep（）;
	setDesiredOrientation（degrees2radians（-60））;
	loop_rate.sleep（）;
	setDesiredOrientation（degrees2radians（0））;

	ros::spin（）;

	return?0;
}

void?move（double?speed?double?distance?bool?isForward）{
	geometry_msgs::Twist?vel_msg;
???//set?a?random?linear?velocity?in?the?x-axis
???if?（isForward）
	???vel_msg.linear.x?=abs（speed）;
???else
	???vel_msg.linear.x?=-abs（speed）;
???vel_msg.linear.y?=0;
???vel_msg.linear.z?=0;
???//set?a?random?angular?velocity?in?the?y-axis
???vel_msg.angular.x?=?0;
???vel_msg.angular.y?=?0;
???vel_msg.angular.z?=0;

???double?t0?=?ros::Time::now（）.toSec（）;
???double?current_distance?=?0.0;
???ros::Rate?loop_rate（100）;
???do{
	???velocity_publisher.publish（vel_msg）;
	???double?t1?=?ros::Time::now（）.toSec（）;
	???current_distance?=?speed?*?（t1-t0）;
	???ros::spinOnce（）;
	???loop_rate.sleep（）;
	???//cout<<（t1-t0）<<“?“<???}while（current_distance