diff --git a/lesson_04/m_mover.py b/lesson_04/m_mover.py
new file mode 100644
index 0000000000000000000000000000000000000000..a8b1a7d3015f5709cd755aa90be0e11cd858621f
--- /dev/null
+++ b/lesson_04/m_mover.py
@@ -0,0 +1,42 @@
+import rclpy
+from rclpy.node import Node
+from rclpy.duration import Duration
+
+from geometry_msgs.msg import Twist
+import math
+
+
+class RurMover(Node):
+    def __init__(self):
+        super().__init__('minimal_publisher')
+        self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
+        self.main()
+
+    def publish_twist(self, linear, angular):
+        self.get_logger().info('Linear: "%d", angular: "%d"' % (linear, angular))
+        msg = Twist()
+        msg.linear.x = float(linear)
+        msg.angular.z = math.radians(float(angular))
+        self.publisher_twist.publish(msg)
+        self.get_clock().sleep_for(Duration(seconds=1.0))
+
+    def main(self):
+        self.publish_twist(0, 90)
+        self.publish_twist(4, 0)
+        self.publish_twist(0, -120)
+        self.publish_twist(4, 0)
+        self.publish_twist(0, 90)
+        self.publish_twist(4, 0)
+        self.publish_twist(0, -120)
+        self.publish_twist(4, 0)
+
+
+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 aa0b240a6c3f34d13a565dd0f713de9cc6690415..754ba467907252be2a9ba900e171ca5d601fa89e 100644
--- a/setup.py
+++ b/setup.py
@@ -26,6 +26,7 @@ setup(
             'step_3 = lesson_04.step_3:main',
             'square = lesson_04.square:main',
             'mover = lesson_04.mover:main',
+            'm_mover = lesson_04.m_mover:main',
         ],
     },
 )