% Constructor (init ROS connection)
IP_TURTLEBOT = "192.168.1.xxx";         % virtual machine IP (or robot IP)
IP_HOST_COMPUTER = "192.168.1.xxx";     % local machine IP
tbot = TurtleBot3(IP_TURTLEBOT, IP_HOST_COMPUTER);


% send linear and angular velocity commands to robot
tbot.setVelocity(v, w);

% stop robot
tbot.stop();

% define/overwrite pose of robot 
tbot.setPose(x, y, theta);

% reset pose: (x,y,theta) = (0,0,0) 
tbot.resetPose();

% read 2D pose (and timestamp) 
[x, y, theta, timestamp] = tbot.readPose();

% read LIDAR data 
[scanMsg, lddata, ldtimestamp] = tbot.readLidar();

% read (simulated) encoders data
[dsr, dsl, pose2D, timestamp] = tbot.readEncoders();

% Destructor — deleting (tbot) object will shutdown ROS connection 
clear tbot;