How to make robot turn 180 degree without localization node like AMCL?

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Hello, I'm using ROS melodic of Ubuntu 18.04.

I spawned 4 robots on the gazebo simulation and I'd like to make them move following my command.

But as far as I know, only Twist topic can deal with these works which means I can't help setting the only linear or angular velocity, not preferred angle or point.

Of course, the AMCL node can also do this perfectly, but I don't prefer to adopt it because it involves massive nodes to launch. (And also when I spawned the all robots with the AMCL, it seemed the simulation got rather slowed.)

The point is how to make a robot be in a specific pose without AMCL.

If anyone knows this, would you please give me advice?

Thanks in advance. :)