I’d like to generate the following output. Can you check my code?
Seeing only those snippets its not much I could say to see if its going to work.
To do an 8 shape you can do it eyeballing it with sleeps and times or you can use the odometry on the turtle sim example to get the precise position and orientation to know when to change the movement.
Pos the git here or the ROSject for us to be able to have a look.