diff --git a/lesson_04/basics.py b/lesson_04/basics.py
deleted file mode 100644
index 3dfb7d818a22a9b132d4f3b756be11556f7b1557..0000000000000000000000000000000000000000
--- a/lesson_04/basics.py
+++ /dev/null
@@ -1,17 +0,0 @@
-import math
-
-
-def to_degree(val):
-    return val*180/3.1415
-
-
-a = 3.14
-a = a/2
-print("В радианах:")
-print(a)
-print("В градусах:")
-print(to_degree(a))
-
-b = math.degrees(a)
-print("В градусах библиотечное:")
-print(b)
diff --git a/lesson_04/mover.py b/lesson_04/mover.py
deleted file mode 100644
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..0000000000000000000000000000000000000000
--- a/lesson_04/mover.py
+++ /dev/null
@@ -1,35 +0,0 @@
-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):
-        pass
-
-
-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/lesson_04/step_3.py b/lesson_04/node.py
similarity index 57%
rename from lesson_04/step_3.py
rename to lesson_04/node.py
index e4b7ac3df8409eaa49acc5377f947a4a66bc5193..2023fcd49b318d186c65babfe8166e92d9f22717 100644
--- a/lesson_04/step_3.py
+++ b/lesson_04/node.py
@@ -19,15 +19,24 @@ class RurMover(Node):
         self.publisher_twist.publish(msg)
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
-    def main(self):
+    def main(self): # default direction: -->
         self.publish_twist(0, 90.0)
-        self.publish_twist(3, 0.0)
-        self.publish_twist(0, -120.0)
-        self.publish_twist(1, 0.0)
-        self.publish_twist(0, -120.0)
-        self.publish_twist(1, 0.0)
-        self.publish_twist(0, 60.0)
-        self.publish_twist(2, 0.0)
+        self.publish_twist(2.5, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(2.5, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(2.5, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(5, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(2.5, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(2.5, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(2.5, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(2.5, 0.0)
+
 
 
 def main(args=None):
diff --git a/lesson_04/square.py b/lesson_04/square.py
deleted file mode 100644
index 21f468769c8850956b023923ae3150ec03c1f7cc..0000000000000000000000000000000000000000
--- a/lesson_04/square.py
+++ /dev/null
@@ -1,40 +0,0 @@
-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):
-        while True:
-            self.publish_twist(0, 90.0)
-            self.publish_twist(3.0, 0.0)
-
-
-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/lesson_04/step_0.py b/lesson_04/step_0.py
deleted file mode 100644
index 4fa986c610dea06468a7dabbf0f6d39a4d4c98fb..0000000000000000000000000000000000000000
--- a/lesson_04/step_0.py
+++ /dev/null
@@ -1,9 +0,0 @@
-import rclpy
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()
\ No newline at end of file
diff --git a/lesson_04/step_1.py b/lesson_04/step_1.py
deleted file mode 100644
index 1a43ae0e46adc637e32df558cf0f2614d24b4ce6..0000000000000000000000000000000000000000
--- a/lesson_04/step_1.py
+++ /dev/null
@@ -1,18 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-class RurMover(Node):
-    def __init__(self):
-        super().__init__('rur_mover')
-
-def main(args=None):
-    rclpy.init(args=args)
-    mover = RurMover()
-
-    rclpy.spin(mover)
-
-    mover.destroy_node()
-    rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()
diff --git a/lesson_04/step_2.py b/lesson_04/step_2.py
deleted file mode 100644
index b62db7a20aa26c4a5d02c4adc2a304be38e5b06c..0000000000000000000000000000000000000000
--- a/lesson_04/step_2.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-from geometry_msgs.msg import Twist
-
-
-class RurMover(Node):
-    def __init__(self):
-        super().__init__('rur_mover')
-        self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
-        self.main()
-
-    def main(self):
-        msg = Twist()
-        msg.linear.x = 2.0
-        msg.angular.z = -3.14
-        self.publisher_twist.publish(msg)
-
-
-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..60d6f82b9fc6b23c2837a662a5ecd3196627c050 100644
--- a/setup.py
+++ b/setup.py
@@ -13,19 +13,14 @@ setup(
     ],
     install_requires=['setuptools'],
     zip_safe=True,
-    maintainer='mnc',
-    maintainer_email='m.chemodanov@noniusgroup.ru',
+    maintainer='gleb',
+    maintainer_email='dga@example.com',
     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',
+            'node = lesson_04.node:main',
         ],
     },
 )