TurtleSim Robot Following and Random Movement

I have implemented two robot controllers: one for a robot that follows another robot at a specified distance, and another for a robot that moves randomly with certain strategies.

The first robot, Robot-1, is designed to track the position of Robot-2 using the information obtained from its state. Robot-1 constantly calculates a target pose to maintain a certain distance from Robot-2 while following it.

On the other hand, Robot-2 moves with a fixed speed and follows specific movement strategies. When Robot-2 reaches the boundary of the simulation area, it will either reflect its direction of motion as if it were bouncing off a mirror or randomly select a new turning angle.