text: #! /usr/bin/env python
  import rospy
  from geometry_msgs.msg import Twist
  from session_one.msg import JangoFett
  import math 
  
  
  def callback_function(obj):
      var = obj.side.data
      shape = obj.shape.data
  
      if(shape == 'square'):
          for count in range(4):
          #move forward
              var_cmd.linear.x = 0.2
              var_cmd.angular.z = 0
              pub_cmd.publish(var_cmd)
              rospy.sleep(var)
              #stop
              var_cmd.linear.x=0
              var_cmd.angular.z=0
              pub_cmd.publish(var_cmd)
              rospy.sleep(2)
              #rotate by 90 deg
              var_cmd.linear.x = 0
              var_cmd.angular.z = 0.5
              pub_cmd.publish(var_cmd)
              rospy.sleep(3)
              #stop
              var_cmd.linear.x=0
              var_cmd.angular.z=0
              pub_cmd.publish(var_cmd)
              rospy.sleep(2)
              rospy.loginfo(count)  
          var_cmd.linear.x=0
          var_cmd.angular.z=0
          pub_cmd.publish(var_cmd)
          print("all done")
  
          #do square
      elif(shape == 'circle'):
          r1 = var/2
          v1 = (0.1/0.3)*r1
          w1 = v1/r1
          t=(3.5*2*math.pi)/w1
  
          var_cmd.angular.z=0.1
          var_cmd.linear.x=v1
          pub_cmd.publish(var_cmd)
          rospy.sleep(t)
          var_cmd.linear.x=0
          var_cmd.angular.z=0
          pub_cmd.publish(var_cmd)
  
          #do circle
  
  var_cmd = Twist()
  rospy.init_node('mover2')
  
  pub_cmd = rospy.Publisher('/cmd_vel',Twist,queue_size=1)
  rospy.Subscriber('/darkside',JangoFett,callback_function)
  rospy.spin()