From f46e3da1947b3204e57d6b3c083bd8661c6be123 Mon Sep 17 00:00:00 2001 From: d3miurg Date: Thu, 11 Jan 2024 15:18:25 +0300 Subject: [PATCH] trying to draw M --- lesson_04/m_mover.py | 42 ++++++++++++++++++++++++++++++++++++++++++ setup.py | 1 + 2 files changed, 43 insertions(+) create mode 100644 lesson_04/m_mover.py diff --git a/lesson_04/m_mover.py b/lesson_04/m_mover.py new file mode 100644 index 0000000..a8b1a7d --- /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 aa0b240..754ba46 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', ], }, ) -- GitLab