diff --git a/labs/catkin_ws/src/l2e4/CMakeLists.txt b/labs/catkin_ws/src/l2e4/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3fe3d06bd3671f72af70617c0472f2939e180140
--- /dev/null
+++ b/labs/catkin_ws/src/l2e4/CMakeLists.txt
@@ -0,0 +1,207 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(l2e4)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  turtlesim
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${PROJECT_SOURCE_DIR}/include
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/l2e4.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(turtle1_pub ~/3rdYear/RWR/Robot-With-Reflexes/labs/catkin_ws/src/l2e4/turtle1_pub.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(turtle1_pub
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(turtle1_pub
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_l2e4.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/labs/catkin_ws/src/l2e4/scripts/turtle1_pub.py b/labs/catkin_ws/src/l2e4/scripts/turtle1_pub.py
new file mode 100644
index 0000000000000000000000000000000000000000..63a6a5be8ff0089cd5e9c906ce737a5e31fb93a5
--- /dev/null
+++ b/labs/catkin_ws/src/l2e4/scripts/turtle1_pub.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+
+import rospy
+from turtlesim.msg import Twist
+
+def callback(data):
+    print(data)
+
+if __name__ == '__main__':
+    rospy.init_node('turtle1_pub_python')
+    rospy.Subscriber('turtle1/cmd_vel', Twist, callback, queue_size=1)
+    rospy.spin()
+    
\ No newline at end of file
diff --git a/labs/catkin_ws/src/l2e4/turtle1_pub.cpp b/labs/catkin_ws/src/l2e4/turtle1_pub.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7b1ebfed3f96d595130b9f23175ad23a9496aa4b
--- /dev/null
+++ b/labs/catkin_ws/src/l2e4/turtle1_pub.cpp
@@ -0,0 +1,55 @@
+#include <ros/ros.h>
+#include <turtlesim/Pose.h>
+#include <turtlesim/Spawn.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Twist.h>
+#include <tf/transform_datatypes.h>
+
+//#define INVERT(x) x * -1
+ros::Publisher turtle2_cmd;
+
+void velocityCallback(const geometry_msgs::Twist& msg)
+{
+    geometry_msgs::Twist t2_cmd_vel;
+    //turtle1_cmd = nh1.subscribe("turtle1/cmd_vel", 1000, &velocityCallback);
+    t2_cmd_vel.linear.x  = msg.linear.x * -1;
+    t2_cmd_vel.linear.y  = msg.linear.y * -1;
+    t2_cmd_vel.angular.x = msg.angular.x * -1;
+    t2_cmd_vel.angular.y = msg.angular.y * -1;
+    t2_cmd_vel.angular.z = msg.angular.z * -1;
+
+    
+    ROS_INFO_STREAM("output:linear.x " << t2_cmd_vel.linear.x << " linear.y " << t2_cmd_vel.linear.y );
+    turtle2_cmd.publish(t2_cmd_vel);
+}
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "command_pub_sub");
+    ros::NodeHandle nh1;
+    ros::NodeHandle nh2;
+    turtle2_cmd = nh2.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 1000);
+    ros::Subscriber turtle1_cmd = nh1.subscribe("turtle1/cmd_vel", 1000, &velocityCallback);
+    //ros::Publisher turtle1_cmd = nh1.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 1000);
+    
+    ros::Rate loop_rate(10);
+    //int count(0);
+
+    /*while(ros::ok())
+    {
+        geometry_msgs::Twist t2_cmd_vel;
+        //turtle1_cmd = nh1.subscribe("turtle1/cmd_vel", 1000, &velocityCallback);
+        t2_cmd_vel.linear.x  = t2_cmd_vel.linear.x * -1;
+        t2_cmd_vel.linear.y  = t2_cmd_vel.linear.y * -1;
+        t2_cmd_vel.angular.x = t2_cmd_vel.angular.x * -1;
+        t2_cmd_vel.angular.y = t2_cmd_vel.angular.y * -1;
+        velocityCallback(t2_cmd_vel, turtle2_cmd);
+        //turtle2_cmd.publish(t2_cmd_vel);
+        ros::spinOnce();
+        loop_rate.sleep();
+    }*/
+
+    ros::spin();
+
+    return 0;
+}
\ No newline at end of file
diff --git a/labs/catkin_ws/src/l2e4/turtlesim_spawn.launch b/labs/catkin_ws/src/l2e4/turtlesim_spawn.launch
new file mode 100644
index 0000000000000000000000000000000000000000..897f805a25e2148b52a3838fc3ac2ba53bed795b
--- /dev/null
+++ b/labs/catkin_ws/src/l2e4/turtlesim_spawn.launch
@@ -0,0 +1,19 @@
+<launch>
+    <node
+        pkg="turtlesim"
+        type="turtlesim_node"
+        name="turtlesim"
+        respawn="true"
+    />
+    <node 
+        pkg="rosservice"
+        type="rosservice"
+        name="spawn"
+        args="call spawn --wait 5.5 5.5 0 'turtle2'"
+    />
+    <node
+        pkg="l2e4"
+        type="turtle1_pub"
+        name="turtle1_pub"
+    />
+</launch>
\ No newline at end of file