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The robot is controlled by specifying desired velocity (translation and rotation) of the robot by publishing desired velocity to RosAria/cmd_vel (from a client, or for testing, from 'rostopic'), which you can change at any time. Do this while monitoring pose (and, eventually, sensor data as well) and you can make the robot move in a certain trajectory or pattern over time.

The robot is controlled by specifying desired velocity (translation and rotation) of the robot by publishing desired velocity to RosAria/cmd_vel (from a client, or for testing, from 'rostopic'), which you can change at any time. Do this while monitoring pose (and, eventually, sensor data as well) and you can make the robot move in a certain trajectory or pattern over time. You can start with basic proportional control and a state machine. As you approach the edge of the square, slow the robot down until stopped. Then turn (new state). When done turning, begin moving again.