diff --git a/launch/step_5.launch.py b/launch/step_5.launch.py
new file mode 100644
index 0000000000000000000000000000000000000000..686110f5a5b4eb0019ffcb49b8df53ff6f5a67f6
--- /dev/null
+++ b/launch/step_5.launch.py
@@ -0,0 +1,24 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='turtlesim',
+            namespace='',
+            executable='turtlesim_node',
+            name='sim'
+        ),
+        Node(
+            package='lesson_05',
+            namespace='',
+            executable='step_5',
+            name='square'
+        ),
+        ExecuteProcess(
+            cmd=[['rqt']],
+            shell=False
+        ),
+    ])
diff --git a/lesson_05/step_5.py b/lesson_05/step_5.py
new file mode 100644
index 0000000000000000000000000000000000000000..b83522fc1bf6a4e30c928ce6fe0bc9fd499a73e4
--- /dev/null
+++ b/lesson_05/step_5.py
@@ -0,0 +1,74 @@
+import rclpy
+from rclpy.node import Node
+
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+import math
+
+class PID:
+    def __init__(self, i_max = 0.0, i_min = 0.0, i_gain = 0.0, p_gain = 0.0, d_gain = 0.0,):
+        self.iMax = i_max # Maximum and minimum allowable integrator state
+        self.iMin = i_min
+        self.iGain = i_gain # integral gain
+        self.pGain = p_gain # proportional gain
+        self.dGain = d_gain # derivative gain
+
+        self.dState = 0.0 # Last position input
+        self.iState = 0.0 # Integrator state
+
+    def update_PID(self, error, position):
+        pTerm = self.pGain * error # calculate the proportional term
+        self.iState += error # calculate the integral state with appropriate limiting
+        if self.iState > self.iMax:
+            self.iState = self.iMax
+        elif self.iState < self.iMin:
+            self.iState = self.iMin
+        
+        iTerm = self.iGain * self.iState # calculate the integral term
+        dTerm = self.dGain * (position - self.dState)
+        self.dState = position
+
+        return pTerm + iTerm - dTerm
+
+def angle_diff(a1, a2):
+    a = a1-a2
+    return (a+math.pi)%(2*math.pi)-math.pi
+
+
+class RurMover(Node):
+    def __init__(self):
+        super().__init__('minimal_publisher')
+        self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
+        self.pose_subscriber = self.create_subscription(Pose, 'turtle1/pose', self.pose_callback, 10)
+        self.desired_heading = - math.pi / 2
+        self.SIDE_TIME = 5.0
+        self.LINEAR_SPEED = 0.5
+        self.timer = self.create_timer(self.SIDE_TIME, self.pub_timer_callback)
+        self.PID = PID()
+
+    def pose_callback(self, msg):
+        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)
+        msg_pub.angular.z = self.PID.update_PID(error, msg.theta)
+        self.publisher_twist.publish(msg_pub)
+
+    def pub_timer_callback(self):
+        self.desired_heading += math.pi / 2
+        self.desired_heading %= 2 * math.pi
+        self.get_logger().info('New angle setpoint: "%f"' % self.desired_heading)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    mover = RurMover()
+
+    rclpy.spin(mover)
+
+    mover.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 0e83277e26896894fdb28dc65870d33952f3406f..223a33c99200d7125ee8f755d7df89d8e60ceb79 100644
--- a/setup.py
+++ b/setup.py
@@ -27,6 +27,7 @@ setup(
             'step_2 = lesson_05.step_2:main',
             'step_3 = lesson_05.step_3:main',
             'step_4 = lesson_05.step_4:main',
+            'step_5 = lesson_05.step_5:main',
         ],
     },
 )