Synchronise angular and linear velocity controllers

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Hello everyone,

I have a decoupled and independent set of linear (wz) and angular velocity (vx, vy) controllers for my omni-directional robot. I have a trajectory in the form of (x1, y1, yaw1), (x2, y2, yaw2) ...

I want to ensure that my linear and angular velocity controllers are synchronized, i.e. theta1 reaches to theta2 as x1, y1 reaches to x2, y2 not very quickly and not very late, at almost the same time with some tolerance.

I am using the x, y controller with a slight modification with the ROS navigation stack.

Is there any way I might be able to achieve this?

Thanks and cheers.