diff --git a/launch/lesson05 b/launch/lesson05
new file mode 100644
index 0000000000000000000000000000000000000000..22eacd81d14c2235d96f6b2893cf08a1cef6d2bd
--- /dev/null
+++ b/launch/lesson05
@@ -0,0 +1,25 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package = 'rgt_plot',
+            namespace = '',
+            executable = 'rgt_plot'
+            name = 'plot'
+        ),
+        Node(
+            package = 'turtlesim',
+            namespace = '',
+            executable = 'turtlesim_node',
+            name = 'sim'
+        ),
+        Node(
+            package = 'lesson_05',
+            namespace = '',
+            executable = 'step_4'
+            name = 'square'
+        )
+    ])
diff --git a/lesson_05/step_4.py b/lesson_05/step_4.py
index 0aadceeac49995ffb174c923ca75f496161bf2eb..24e0203d16625f794cd88433dfcdf9e954d0d1f9 100644
--- a/lesson_05/step_4.py
+++ b/lesson_05/step_4.py
@@ -27,12 +27,7 @@ class RurMover(Node):
         msg_pub = Twist()
         msg_pub.linear.x = self.LINEAR_SPEED
         error = angle_diff(self.desired_heading, msg.theta)
-        if error < 0:
-            msg_pub.angular.z = math.radians(90.0)
-            self.get_logger().info('Turn left')
-        else:
-            msg_pub.angular.z = math.radians(-90.0)
-            self.get_logger().info('Turn right')
+        msg_pub.angular.z = 10 * error
         self.publisher_twist.publish(msg_pub)
 
     def pub_timer_callback(self):
@@ -51,4 +46,4 @@ def main(args=None):
     rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()