Step $1$: Write a ROS node using rospy that sends the turtlesim robot to a series of waypoints stored as a

python list:

waypoints $=[($x$1,$y$1),($x$2,$y$2),...,($xn$,$yn$)]$

You must allow for any length of list. The node should terminate when the last waypoint is reached.

Make sure you test this thoroughly before proceeding to the next steps.

Step $2$: Add code to calculate and maintain a running estimate of the average accuracy with which

waypoints are being reached when processing a waypoint list. Test this with a list of $10$ waypoints.

Vary the termination threshold in the while loop of of the goto node using the following values $[1,0\mathrm{.}5,$

$0\mathrm{.}25,0\mathrm{.}1,0\mathrm{.}05,0\mathrm{.}01].$ For each, record the value of the accuracy.