From fd9676e28f808a3476f71ee88baf9e0fb34c6811 Mon Sep 17 00:00:00 2001
From: Bulka <bulka02032005@gmail.com>
Date: Sun, 21 Jan 2024 15:52:00 +0300
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---
 lesson_04/Test1.py | 47 ++++++++++++++++++++++++++++++++++++++++++++++
 setup.py           |  1 +
 2 files changed, 48 insertions(+)
 create mode 100644 lesson_04/Test1.py

diff --git a/lesson_04/Test1.py b/lesson_04/Test1.py
new file mode 100644
index 0000000..04a5faa
--- /dev/null
+++ b/lesson_04/Test1.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__('minimal_publisher')
+        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, 30.0)
+        self.publish_twist(3, 40.0)
+        self.publish_twist(0, -120.0)
+        self.publish_twist(1, 50.0)
+        self.publish_twist(0, -120.0)
+        self.publish_twist(1, 10.0)
+        self.publish_twist(0, 20.0)
+        self.publish_twist(2, 5.0)
+        self.publish_twist(0, -115.0)
+        self.publish_twist(3, 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/setup.py b/setup.py
index aa0b240..30ced9e 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',
+            'test = lesson_04.Test1:main',
         ],
     },
 )
-- 
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