```
angular = 4 * math.atan2(trans[1], trans[0])
linear = 0.5 * math.sqrt(trans[0] ** 2 + trans[1] ** 2)
cmd = geometry_msgs.msg.Twist()
cmd.linear.x = linear
cmd.angular.z = angular
turtle_vel.publish(cmd)
```

My understanding is that the listener finds the position of the followed object within the reference frame of the follower object. Thus in this case follower object becomes the origin of the reference frame of interest and followed object is a point in the reference frame . Thus by using the formula of calculating standard angle(atan) and distance(sqrt) between two points[origin,trans coord] , these values are used as gradient to calculate the angular and linear speed correct ?