From 9726d6244ee4c877f5c0b8da376f9dbc2b030141 Mon Sep 17 00:00:00 2001 From: Anatoly Date: Sat, 19 Oct 2024 21:23:29 +0300 Subject: [PATCH] Draws A --- lesson_04/mover.py | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..b336b91 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -21,15 +21,25 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass + self.publish_twist(0, 70.0) + self.publish_twist(5, 0.0) + self.publish_twist(0, -150.0) + self.publish_twist(5, 0.0) + self.publish_twist(0, -180.0) + self.publish_twist(3, 0.0) + self.publish_twist(0, 80.0) + self.publish_twist(1, 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 + main() -- GitLab