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Hi!

I've tested your code (the rotation part) and it works nice except for 1 bug, here:

if(clockwise)
    vel_msg.angular.z = -abs(angular_speed);
else
    vel_msg.angular.z = abs(angular_speed);

These abs() functions will return 0 for all values between 0 and +-1. So, for instance, if the angular velocity is 0.5 rad/s, you will get a 0 there, thus the robot won't rotate. It can be easily solved though, just removing the abs() functions:

if(clockwise)
    vel_msg.angular.z = -angular_speed;
else
    vel_msg.angular.z = angular_speed;

It should work perfect with this change. You can check the following post if you want to see how I tested your code.

Cheers!