updating coordinateNode to remove void msgs and add turning functiona… #1548

Job	Run time
prepare-actions-environment	1s
linux-arm64-build-and-test	56s
linux-amd64-build-and-test	3m 50s
ament-flake8	1m 41s
ament-clang-format	1m 16s
ament-cppcheck	1m 14s
ament-xmllint	1m 26s
	10m 24s

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