From d9eadf614132ec7a623de4711f7a8f230dbaad06 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=A4=D1=80=D0=B0=D0=BD=D1=81=D0=B8=D1=81=D0=BA=D0=BE=20?= =?UTF-8?q?=D0=AD=D1=81=D0=BF=D0=B8=D0=BD=D0=BE=D1=81=D0=B0=20=D0=A1=D0=B5?= =?UTF-8?q?=D1=85=D0=B0?= Date: Sun, 5 Nov 2023 14:33:49 +0300 Subject: [PATCH] =?UTF-8?q?=D0=A0=D0=B8=D1=81=D1=83=D0=B5=D1=82=20F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..096f0b2 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -21,7 +21,16 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass + self.publish_twist(0, 90.0) + self.publish_twist(5.0, 0.0) + self.publish_twist(0, 270.0) + self.publish_twist(3.0, 0.0) + self.publish_twist(0, 180.0) + self.publish_twist(3.0, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(2.0, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(2.0, 0.0) def main(args=None): @@ -32,4 +41,4 @@ def main(args=None): rclpy.shutdown() if __name__ == '__main__': - main() \ No newline at end of file + main() -- GitLab