def METHOD_NAME(self, linear, angular):
    msg = Twist()
    msg.angular.x = 0.0
    msg.angular.y = 0.0
    msg.angular.z = float(angular)
    msg.linear.x = float(linear)
    msg.linear.y = 0.0
    msg.linear.z = 0.0
    self.pub.publish(msg)