diff --git a/launch/step_4.launch.py b/launch/step_4.launch.py
index bee9cc5330bf8a8a731dc426299d0698b596e4a2..34778daa2a82a418bc695455f2325677e8d3c9d7 100644
--- a/launch/step_4.launch.py
+++ b/launch/step_4.launch.py
@@ -15,5 +15,12 @@ def generate_launch_description():
             namespace='',
             executable='step_4',
             name='square'
-        )
+        ),
+        Node(
+            package='rqt_plot',
+            namespace='',
+            executable='rqt_plot',
+            arguments=['/turtle1/pose/theta'],
+            name='rqt'
+       )
     ])
diff --git a/lesson_05/step_4.py b/lesson_05/step_4.py
index 0aadceeac49995ffb174c923ca75f496161bf2eb..70dcee6d1d0816efdd5ea6aa3c6bfbd891a3e282 100644
--- a/lesson_05/step_4.py
+++ b/lesson_05/step_4.py
@@ -22,16 +22,17 @@ class RurMover(Node):
         self.timer = self.create_timer(self.SIDE_TIME, self.pub_timer_callback)
 
     def pose_callback(self, msg):
+    	Koeff=0.01
         self.get_logger().info('Current heading: "%f"' % msg.theta)
         self.get_logger().info('Setpoint: "%f"' % self.desired_heading)
         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)
+            msg_pub.angular.z = math.radians(90.0)-error*Koeff
             self.get_logger().info('Turn left')
         else:
-            msg_pub.angular.z = math.radians(-90.0)
+            msg_pub.angular.z = math.radians(-90.0)+error*Koeff
             self.get_logger().info('Turn right')
         self.publisher_twist.publish(msg_pub)
 
@@ -51,4 +52,4 @@ def main(args=None):
     rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()