lesson_04/mover.py

@@ -21,7 +21,27 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+        self.publish_twist(0, 0.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(4, 0.0)
+        self.publish_twist(0, 0.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, 135.0)
+        self.publish_twist(2, 0.0)
+        self.publish_twist(0, 45.0)
+        self.publish_twist(2, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(4, 0.0)
+        
+
+
 
 
 def main(args=None):