From 8863c4f370415e91dfa49d7b2ce9942ac963d259 Mon Sep 17 00:00:00 2001
From: RTarasov <romashkin226@gmail.com>
Date: Thu, 17 Oct 2024 18:51:29 +0300
Subject: [PATCH 1/3] Add mover.py to draw letter T  in turtlesim

---
 lesson_04/mover.py | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebe..03f0ed6 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -8,12 +8,11 @@ import math
 
 class RurMover(Node):
     def __init__(self):
-        super().__init__('minimal_publisher')
+        super().__init__('DrawerRPublisher')
         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))
@@ -21,8 +20,18 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
-
+        #Рисую букву Т(Первая буква моей фамилии)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(1.5, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, 180)
+        self.publish_twist(1.5, 0)
+        self.publish_twist(0, -90)
+        self.publish_twist(3, 0)
+        self.publish_twist(0, 90)
 
 def main(args=None):
     rclpy.init(args=args)
-- 
GitLab


From 63b8e3c24d74f12ecf2f9135eef48470a06af356 Mon Sep 17 00:00:00 2001
From: RTarasov <romashkin226@gmail.com>
Date: Thu, 17 Oct 2024 19:06:52 +0300
Subject: [PATCH 2/3] change mover.py to draw T

---
 lesson_04/mover.py | 44 --------------------------------------------
 1 file changed, 44 deletions(-)

diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index 03f0ed6..e69de29 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -1,44 +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__('DrawerRPublisher')
-        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):
-        #Рисую букву Т(Первая буква моей фамилии)
-        self.publish_twist(0, 90.0)
-        self.publish_twist(3, 0.0)
-        self.publish_twist(0, -90.0)
-        self.publish_twist(1.5, 0.0)
-        self.publish_twist(0, 180.0)
-        self.publish_twist(3, 0.0)
-        self.publish_twist(0, 180)
-        self.publish_twist(1.5, 0)
-        self.publish_twist(0, -90)
-        self.publish_twist(3, 0)
-        self.publish_twist(0, 90)
-
-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
-- 
GitLab


From e19e2312eb49f84baa3fd0111d512885bab15879 Mon Sep 17 00:00:00 2001
From: RTarasov <romashkin226@gmail.com>
Date: Thu, 17 Oct 2024 19:07:27 +0300
Subject: [PATCH 3/3] Change mover.py to draw T letter

---
 lesson_04/mover.py | 44 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 44 insertions(+)

diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index e69de29..03f0ed6 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -0,0 +1,44 @@
+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__('DrawerRPublisher')
+        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):
+        #Рисую букву Т(Первая буква моей фамилии)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(1.5, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, 180)
+        self.publish_twist(1.5, 0)
+        self.publish_twist(0, -90)
+        self.publish_twist(3, 0)
+        self.publish_twist(0, 90)
+
+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
-- 
GitLab