From 6ec8596ee9bf261251c132b0495d90d01872bef7 Mon Sep 17 00:00:00 2001 From: Savely Protopopov Date: Sun, 20 Oct 2024 12:54:42 +0000 Subject: [PATCH 1/2] Add new file --- mover | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 mover diff --git a/mover b/mover new file mode 100644 index 0000000..e69de29 -- GitLab From b2bee3cbd5e998ff415a6ba4066a3bbee628de46 Mon Sep 17 00:00:00 2001 From: Savely Protopopov Date: Sun, 20 Oct 2024 13:07:07 +0000 Subject: [PATCH 2/2] =?UTF-8?q?=D0=A0=D0=B8=D1=81=D1=83=D0=B5=D1=82=20?= =?UTF-8?q?=D0=B1=D1=83=D0=BA=D0=B2=D1=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- mover.py | 41 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 mover.py diff --git a/mover.py b/mover.py new file mode 100644 index 0000000..d04a84e --- /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 -- GitLab