def directional_movement(self, data):
    theta = math.atan2(data.linear.x, data.linear.y)
    self.steering_cmd = theta
    self.linear_vel = math.sqrt((math.pow(data.linear.x, 2) + math.pow(data.linear.y, 2)))
    self.angular_z = data.angular.z
    self.linear_x = data.linear.x
def directional_movement(self, data):
    theta = math.atan2(data.linear.x, data.linear.y)
    self.steering_cmd = theta
    self.linear_vel = math.sqrt((math.pow(data.linear.x, 2) + math.pow(data.linear.y, 2)))
    self.angular_z = data.angular.z
    self.linear_x = data.linear.x