Implementing Dynamic WIndow Approach (DWA) as a ROS node -- 2

The personal project consist of implementing DWA (dynamic window approach) to ensure obstacle avoidance and local planning.The aim is to send the robot (Turtlebot burger) to a destination in a unknown environment using Rviz (2D-nav-goal) and the robot should navigate itself to the destination without hitting the obstacles in the map.The two main inputs will be laser scanner and odometry by using these local sources the robot should decide the trajectory to be selected.Workspace files will be sent my me (map,robot, launch files) thus just the implementation of DWA algorithm for robot movement is missing . The knowledge of ROS environment is mandatory to complete the task .