How To Rotate A Turtlebot Based On User-Commands?

Disclaimer: The simulator used in the video is called Turtlebot and has been developed by ROS. ROS is an abbreviation for Robot Operating System, which is an open source OS highly compatible with Linux and Ubuntu. The version of the ROS used in this video is Kinetic Kane.

(1) the rotational velocity with which the Turtlebot should rotate,
(2) the angle by which the Turtlebot needs to turn, and
(3) the direction in which the Turtlebot should rotate.

The default position of the Turtlebot is (5.5, 5.5) in 2D world co-ordinates. The default orientation (angle) is 0 radians. No sensors have been used here as there are no obstacles here. This simulation is to primarily test if the Turtlebot is receiving the user-commands correctly or not.

Following the reception of user-commands via an utopian communication channel, the user-specific rotational velocity is converted into velocities for the right and the left wheels of the Turtlebot which, in turn, make the Turtlebot rotate in the user-specified direction.

The user-commands for this simulation are passed via a Terminal window which is displayed on the top-right portion of the screen. The readings of the Turtlebot’s 2D position, orientation, linear (translational) velocity and angular (rotational) velocity are displayed via a separate Terminal window on the bottom-right portion of the screen.

[DEVVAIBHAV]

Hi,
I have been trying to rotate turtlebot using feedback from odometry. It works for first rotation but can't rotate again as the implementation is to rotate with-respect-to fixed co-ordinate frame. But your implementation seems to rotate the robot with respect to its current orientation. Can you please share your implementation?
Thanks in Advance !