diff --git a/mover b/mover
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/mover.py b/mover.py
new file mode 100644
index 0000000000000000000000000000000000000000..d04a84e58d3b30738791120148c0d14d5f33c9e3
--- /dev/null
+++ b/mover.py
@@ -0,0 +1,41 @@
+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__('minimal_publisher')
+        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))
+        self.publisher_twist.publish(msg)
+        self.get_clock().sleep_for(Duration(seconds=1.0))
+
+    def main(self):
+        self.publish_twist(0, 90.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, -145.0)
+        self.publish_twist(2, 0.0)
+        self.publish_twist(0, 111.0)
+        self.publish_twist(2, 0.0)
+        self.publish_twist(0, -145.0)
+        self.publish_twist(3, 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