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Our goal is almost complete.

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We need to do the last, final step and that contains multiple parties.

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The first thing is we need to make the robot take action on the values we have obtained.

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And that includes anger.

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To goal is going to be just a simple continual calculation that this is the goal to the goal.

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But how to make the robot take action?

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That is the real question.

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And that is angle what I call angle to turn.

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That's the best lead that I can come up with, which is basically equal to angle to goal minus robot

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pause towards the rotational part of the robot is going to be subtracted from the remaining angle and

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we will get the value that that is going to be the actual angle error we have to reduce.

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Okay.

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We have the angle to the goal 30 degree and we are currently at ten degrees.

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So we get the actual error 20 degree and we have to rotate 20 degrees to get to the desired position

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desired at this angle to.

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Now we have to make the robotic action or do it right.

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So if angle to turn.

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If angle to turn, we don't need these because if angle to turn is greater than 0.1, which is set to

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be the angle tolerance, you can see the if it reaches 0.1, then the if it is greater than that, you

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are going to be continuously making the robot rotate until unless it is less than the defined tolerance.

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What are you going to do?

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We are going to be needing a velocity, miss.

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Do we have that?

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No, we don't have that.

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Okay, let's define it here.

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The place where we defined the order, other messages as one self-talk velocity message.

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And that velocity message is off going to be obviously data type.

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Now let's utilize that message, self-talk, velocity, message.

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And that message is going to be the velocity message dot angular of Z because we are going to be treating

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Z and you can understand that this is a twist message type.

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So linear and annular X, Y, Z, all of them.

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And yet you're just utilizing Angular and angular z.

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We are going to say take the value angle to turn and do the rotation.

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And for this specific time, you are not going to be moving right now.

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Okay.

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And 0.0.

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Meaning first you need to fixed your angle to the goal.

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You want to move and then you will move.

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Okay.

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Else there is only one simple condition to the EZ and that is when your face towards the angle is correct,

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meaning your angle error has been reduced.

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You are going to start moving at a velocity of distance toward whatever the distance to goal value is.

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You are going to start moving with that error value because distance to go is basically distance at

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it and we are going to give it to the velocity, linear velocity as the distance reduces the velocity

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of the robot is going to reduce.

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That is how it is going to move.

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And now what we are interested in looking at is angle to go in and distance to go.

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I think it is already written.

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I just need to write distance to go ahead and angle to cool, angle to angle to turn and see how much

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angle I have to turn so I can see if my cord is running correctly or not.

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That is what is required.

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Last thing with you to publish this as well.

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Publish this velocity message into our velocity publisher that is going to make the robot move and that

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is the self-talk, the last message.

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And that's it I take towards the goal thing.

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Go to go robotic movement.

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Let's bring it back here.

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Let's zoom it a little bit.

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And where is the terminal Ted?

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We have it perform call can be let's give the values of a one way to the robot.

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And this should be at this specific point.

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Let's see what the robot says.

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What robot is rotated in the counter-clockwise direction.

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Distance to go is 1.3.

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Angle to goal is 0.68.

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Okay.

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What just happened?

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This disease is increasing and increasing and increasing.

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But there was one problem that the report is not even stopping.

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Whoa.

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Let me pause this evolution, and it is not even pause.

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So a robot has gone rampage.

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And the reason is the robot took a turn in the opposite direction and then it started to move.

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And as you can see, the distance to goal value started to increase.

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The robot motion started to increase as the robot has taken the turn in the opposite direction, in

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the distance to go increases and the robot moved towards that.

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Let me bring the robot back.

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One thing we need to look at is the angle to goal being very accurately solving the angle problem.

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But it is not working for the distance problem.

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The real thing was the orientation of the current robot state was at an offset and we are going to do

81
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that offset into angle to good.

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Whenever you calculate the tangent inverse after the result you are going to add 3.1 for a 360 degree

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rotation because you because you saw the robot started to move in the opposite direction.

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What it should not have been doing.

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So before moving to the final steps, I have made some changes and that is user input from the terminal

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as an angle offset.

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I made some changes, but this one is the major one so we can directly give an angle offset as we send

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commands as as an argument to the file we need to perform the collagen build and bring the simulation.

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This time the simulation has turned dark.

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My laptop has turned off the GPU, but we can still manage to see what the robot is doing.

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I am going to first give one one -3.14 as an angle offset -360 degree rotation.

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That basically means.

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So the robot has started to move towards the one one and you can see the angle.

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The angle got less than 1.0.1 and the robot is taking baby steps, the distance is decreasing and it

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is moving towards the goal location one one.

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The thing is that the robot moves a little bit and the angle to goal gets changed.

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This is because that the problem with the robot's physical properties and when it reaches the goal almost

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reaches the goal.

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The robot exit that my net had corrected said that the basic logic is rated at within a goal of ten.

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Then you can see it is taking some time and it is really trying to reach the goal.

101
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It fixes its orientation and then it gets a little off the F condition that we wrote.

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But still it is moving, taking baby steps and this distance is decreasing.

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It is going to take a lot of time.

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I have rated this based logic for you and because it is very easy to understand this basic event as

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it is controlling the robot.

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Now I want you to improve this.

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This is the boiler plate code, and I want you to improve it to a very good quality.

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You can write some basic conditions.

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Do not make this kind of behavior of taking baby steps and then stopping error, correcting that goal,

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then stopping and correcting that again.

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Okay, so that's good.

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The goal driving it is going to take a lot of time to reach that specific point.

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But for now, let's leave it and move to the next part.