Modify a ROS Code

I have a code of ROS Kinetic ([login to view URL]) and I need few modifications in it. -I have data of GY80(IMU) coming via MQTT this code should display that data. -I have "choice value" coming from another MQTT topic, this code should get that. E.g, if "office 1" is being received, the turtle should start moving towards "office 1" -At the end, I have a GY080 with some micro-controller and few buttons. When I press button 1, "office 1" is sent to ROS via MQTT publish method. Let's suppose I have this assembly of GY80 in my hand, I press button 1 and start walking, now ROS should check the obstacles and based on my movements it should, in real time, send vales to GY80 Connected MCU via MQTT like "move left","move forward","obstacle encountered". Keep in mind I only want to use IMU and no camera and nothing else. The link I have provided has everything setup, you just need to implement the thing that movement data should be sent to MCU via MQTT and should be in realtime that means the person with GY80(IMU) will be walking on the same map as in ROS and should be able to get notification like if he wants to go to office 1, the ROS should sent data on each step and each turn that move left, right etc. I think tat is pretty much straight forward and easy to implement in a day or two. You won't need to program any MCU, you will be assigned to work on ROS code in python.