diff --git a/src/project_file.cpp b/src/project_file.cpp
index 378d213..bd1967c 100644
--- a/src/project_file.cpp
+++ b/src/project_file.cpp
@@ -10,6 +10,46 @@ Context: This cpp file is part of the second lab of the Advanced_Robotics course
 
 
 #include <ros/ros.h>
+#include <thread>       //std::this_thread_sleep_for
+#include <chrono>       //std::chrono::seconds
+
+
+
+//max values for lin vel 0.22 and angular vel 2.84
+
+void walk(geometry_msgs::Twist twist, speed_input){
+
+    //intialisation of the values for the twist messages
+    twist.linear.x=0.0;
+    twist.linear.y=0.0;
+    twist.linear.z=0.0;
+    twist.angular.x=0.0;
+    twist.angular.y=0.0;
+    twist.angular.z=0.0;
+
+    //use of the speed input
+    twist.linear.x=speed_input;
+
+}
+
+void turn_random(geometry_msgs::Twist twist){
+
+    //initialisation of the values for the twist messages
+    twist.linear.x=0.0;
+    twist.linear.y=0.0;
+    twist.linear.z=0.0;
+    twist.angular.x=0.0;
+    twist.angular.y=0.0;
+    twist.angular.z=0.0;
+
+    //randomise the angle
+    int random_angular_speed=rand() % 2;
+    twist.angular.z=random_angular_speed;
+    std::this_thread_sleep_for (std::chrono::seconds(2));
+    twist.angular.z=0.0;
+
+
+}
 
 int main(int argc, char** argv)
 {
@@ -20,10 +60,19 @@ int main(int argc, char** argv)
 	ros::Rate loopRate(10);
 	
 	while(ros::ok()){
-		commanderPublisher.publish();
+
+                geometry_msgs::Twist twist;
+
+                walk(twist, 0.1);
+                commanderPublisher.publish(twist);
+                loopRate.sleep(3);
+                turn_random(twist);
+                commanderPublisher.publish(twist);
+                loopRate.sleep(3);
+
 		ros::spinOnce();
 		loopRate.sleep();
 	}
 	
 	return 0;
-}
\ No newline at end of file
+}