def METHOD_NAME(self, action):
    self.ros2_pub_current_pose.publish(self.current_pose)
    forward_step = np.cos(action[0] * 22.5 / 180 * np.pi)
    side_step = np.sin(action[0] * 22.5 / 180 * np.pi)
    yaw_step = action[1] * 22.5 / 180 * np.pi
    self.target_pose.pose.position.x = self.current_pose.pose.position.x + forward_step * np.cos(
        self.current_yaw) - side_step * np.sin(self.current_yaw)
    self.target_pose.pose.position.y = self.current_pose.pose.position.y + forward_step * np.sin(
        self.current_yaw) + side_step * np.cos(self.current_yaw)
    self.target_pose.pose.position.z = self.current_pose.pose.position.z
    self.target_pose.pose.orientation = euler_to_quaternion(0, 0, yaw=self.current_yaw + yaw_step)
    self.ros2_pub_target_pose.publish(self.target_pose)