Communication between two turtlebots

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Hello all,

I read all the needed tutorials and configured the turtlebots to communicate with one another (Listener.py and talker.py show active communication).

I'm trying to write a program that will do something very simple, and I was wondering if anyone have done that or have any information he or she can share to write it.

The program (has to be in Python) should do something like that

Robot 1 sends a message "rotate 90 degree right" to robot 2 that makes robot 2 rotate 90 degrees to the right and then robot 2 shows a complete message. Afterwards, robot 2 sends a message "rotate 90 degree left" to robot 1 that makes robot 1 rotate 90 degrees to the left and then robot 1 shows a complete message.

This messages back and forth should run until there is an event, for example a rotation of 360 degree.

I'm trying to understand Listener.py and Talker.py as much as I can, but I still can't figure out how to do it.

Any help will be appreciated.

Thank you.