From 212a3f0c543a53039b9ab8915abd57b4e2489a87 Mon Sep 17 00:00:00 2001 From: Ashek Date: Wed, 16 Oct 2024 21:42:45 +0300 Subject: [PATCH] =?UTF-8?q?=D0=9F=D0=B8=D1=88=D0=B5=D1=82=20=D0=B1=D1=83?= =?UTF-8?q?=D0=BA=D0=B2=D1=83=20=D0=90?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..5ec1871 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -21,9 +21,15 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass - - + self.publish_twist(0, 60.0) + self.publish_twist(4, 0.0) + self.publish_twist(0, -120.0) + self.publish_twist(4, 0.0) + self.publish_twist(0, 180.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 60.0) + self.publish_twist(2, 0.0) + def main(args=None): rclpy.init(args=args) mover = RurMover() -- GitLab