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Normally publishing on cmd_vel with an angular.z value should be fine. If it it doesn't behave, I would actually blame the node that provides cmd_vel. Did you try with higher rotational values? Does it get more stable then? Maybe there is a minimal velocity on your motors and the driver runs a controller to reach lower rotational values as good as possible.

If you want to move the robot to a specific coordinate in odometry, e.g. 30 degrees rotated from the current position, check out this tutorial.

For path planning and collision avoidance, check out move_base.