From 6a2c063035fd98d751bc4d33ea1b53cab9f1846b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=A1=D0=B5=D0=B2=D0=B0=D1=81=D1=82=D1=8C=D1=8F=D0=BD=20?= =?UTF-8?q?=D0=93=D0=BE=D1=80=D0=B4=D0=B8=D0=B5=D0=BD=D0=BA=D0=BE?= Date: Tue, 12 Mar 2024 15:44:45 +0300 Subject: [PATCH] =?UTF-8?q?=D0=A7=D0=B5=D1=80=D0=B5=D0=BF=D0=B0=D1=88?= =?UTF-8?q?=D0=BA=D0=B0=20=D1=80=D0=B8=D1=81=D1=83=D0=B5=D1=82=20=D0=B1?= =?UTF-8?q?=D1=83=D0=BA=D0=B2=D1=83=20G?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 23 +++++++++++++++++++++-- 1 file changed, 21 insertions(+), 2 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..3dea4fd 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -21,7 +21,26 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass + self.publish_twist(0, -120.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, -150.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, -30.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, -30.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, -30.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, -30.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, -30.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, -30.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, -30.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, -30.0) + self.publish_twist(1, 0.0) def main(args=None): @@ -32,4 +51,4 @@ def main(args=None): rclpy.shutdown() if __name__ == '__main__': - main() \ No newline at end of file + main() -- GitLab