diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..ad12dc8328f3984dc14b4efcf6126ea130bafc13 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -21,7 +21,12 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+        self.publish_twist(0, 90)
+        self.publish_twist(5, 0)
+        self.publish_twist(0, -90)
+        self.publish_twist(3, -180)
+        self.publish_twist(0, -180)
+        self.publish_twist(5, -180)
 
 
 def main(args=None):