how to create a circular trajectory for turtlebot 3

edit

thank you for your reply but this is not the answer i looking for ! i need to create a reference circular path with a pre-defined radius R with : x(t) = R * SIN( 2 * PI * t / dt) y(t) = -R * COS( 2 * PI * t / dt) then drive the turtlebot along with this trajectory

@alaaeddine These answers answer your question. Your question looks a lot like an assignment that you are asking others to do for you. If you need help figuring out how something works please ask your question but it's inappropriate to ask others to solve the problem for you.

https://wiki.ros.org/Support

thank you for your reply but this is not the answer i looking for ! i need to create a reference circular path with a pre-defined radius R with : x(t) = R * SIN( 2 * PI * t / dt) y(t) = -R * COS( 2 * PI * t / dt) then drive the turtlebot along with this trajectory

The method is helpful but the values are not quite correct.

With a constant angular velocity: A zero linear velocity will cause it to spin in place. A constant linear velocity will cause it to drive in a circle. An increasing linear velocity will spiral outward A decreasing linear velocity will spiral inward.