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Have you seen #q313304 ? It's the same question so you should find what you want there.
I don't want my turtlebot to make angular movement while it is moving, because, angular movement in between is causing additional travel time
I don't see why you state that, if you don't turn when reaching a goal what would happen if the orientation is not completly accurate at the beginning ? Moreover, the robot could turn a little bit while moving forward which could lead to the robot never reaching the goal.
So I would advise you to reconsider this, it's not an issue to publish angular cmd_vel while moving forward.
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