From 392b157287ee1488b5d4ed54d95a3401953ddd32 Mon Sep 17 00:00:00 2001 From: Bochkareva Sofya Date: Sat, 13 Jan 2024 18:04:26 +0300 Subject: [PATCH 1/2] changed entry point --- setup.py | 13 ++++--------- 1 file changed, 4 insertions(+), 9 deletions(-) diff --git a/setup.py b/setup.py index aa0b240..6ae1d1c 100644 --- a/setup.py +++ b/setup.py @@ -8,24 +8,19 @@ setup( packages=find_packages(exclude=['test']), data_files=[ ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), + ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), ], install_requires=['setuptools'], zip_safe=True, - maintainer='mnc', - maintainer_email='m.chemodanov@noniusgroup.ru', + maintainer='sofi', + maintainer_email='sofi@todo.todo', description='TODO: Package description', license='TODO: License declaration', tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'step_0 = lesson_04.step_0:main', - 'step_1 = lesson_04.step_1:main', - 'step_2 = lesson_04.step_2:main', - 'step_3 = lesson_04.step_3:main', - 'square = lesson_04.square:main', - 'mover = lesson_04.mover:main', + 'B = lesson_04.B:main', ], }, ) -- GitLab From ba4bed7d0317618820d3d34308af9409957191a0 Mon Sep 17 00:00:00 2001 From: Bochkareva Sofya Date: Sat, 13 Jan 2024 18:06:13 +0300 Subject: [PATCH 2/2] draws the letter b --- lesson_04/B.py | 47 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) create mode 100644 lesson_04/B.py diff --git a/lesson_04/B.py b/lesson_04/B.py new file mode 100644 index 0000000..edc53fb --- /dev/null +++ b/lesson_04/B.py @@ -0,0 +1,47 @@ +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__('rur_mover') + self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10) + self.main() + + def publish_twist(self,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, 90.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 180.0) + self.publish_twist(5, 0.0) + self.publish_twist(0, -90.0) + self.publish_twist(2, 0.0) + + + +def main(args=None): + rclpy.init(args=args) + mover = RurMover() + + rclpy.spin(mover) + + mover.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() -- GitLab