From ab35b2959bde4333b88dd133e57f6a52d763aa9c Mon Sep 17 00:00:00 2001 From: Cusov Dmitry Date: Sat, 13 Jan 2024 15:03:20 +0300 Subject: [PATCH] =?UTF-8?q?mover.py=20=D1=82=D0=B5=D0=BF=D0=B5=D1=80=D1=8C?= =?UTF-8?q?=20=D1=80=D0=B8=D1=81=D1=83=D0=B5=D1=82=20=D0=B1=D1=83=D0=BA?= =?UTF-8?q?=D0=B2=D1=83=20=D0=94?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..ab80499 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -21,7 +21,20 @@ 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(0.5, 0.0) + self.publish_twist(0, -90.0) + self.publish_twist(3, 0.0) + self.publish_twist(0, -90.0) + self.publish_twist(0.5, 0.0) + self.publish_twist(0, 180.0) + self.publish_twist(0.5, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(0.5, 0.0) + self.publish_twist(0, -60.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 120.0) + self.publish_twist(2, 0.0) def main(args=None): @@ -31,5 +44,6 @@ def main(args=None): mover.destroy_node() rclpy.shutdown() + if __name__ == '__main__': - main() \ No newline at end of file + main() -- GitLab