ROS Python Programming - Go To Goal

Looking for an experienced Python programmer who also has experience with ROS (Robot Operating System) to write three scripts that will implement controllers sending a robot to a goal. There are 3 scripts to be written, [login to view URL], [login to view URL], and smooth_tf.py. The purpose of [login to view URL] is to send the robot to a goal using Smooth Controller 1, specified in the attached kinematics pdf file. The same goes for Smooth Controller 2. [login to view URL] will make use of the ROS tf library to send the robot to the specified goal. Attached you will find 2 zip files, [login to view URL] containing the ROS package to be used which includes the launch files, and [login to view URL], which contains the detailed project description and python code templates.