From 7ccb2a2093a1705df7faf20c93545cc701848b59 Mon Sep 17 00:00:00 2001
From: Alexandr Grabarchuk <alexgt555@gmail.com>
Date: Sun, 20 Oct 2024 17:42:51 +0000
Subject: [PATCH 1/2] Upload New File

---
 lesson_04/alex_move.py | 46 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 lesson_04/alex_move.py

diff --git a/lesson_04/alex_move.py b/lesson_04/alex_move.py
new file mode 100644
index 0000000..61ced8d
--- /dev/null
+++ b/lesson_04/alex_move.py
@@ -0,0 +1,46 @@
+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):
+        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, 60.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, -120.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, -180.0)
+        self.publish_twist(1.7, 0.0)
+        self.publish_twist(0, 60.0)
+        self.publish_twist(1.3, 0.0)
+        self.publish_twist(0, 60.0)
+        self.publish_twist(1.7, 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


From 0d0f1c510b10ec8d9d3ba98669d961f4b6a60e59 Mon Sep 17 00:00:00 2001
From: Alexandr Grabarchuk <alexgt555@gmail.com>
Date: Sun, 20 Oct 2024 17:46:38 +0000
Subject: [PATCH 2/2] Added to entry_point file alex_move

---
 setup.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/setup.py b/setup.py
index 9e5dc57..58d0062 100644
--- a/setup.py
+++ b/setup.py
@@ -26,6 +26,7 @@ setup(
             'step_1 = lesson_04.step_1:main',
             'step_2 = lesson_04.step_2:main',
             'step_3 = lesson_04.step_3:main',
+            'alex_move = lesson_04.alex_move:main',
             'square = lesson_04.square:main',
             'mover = lesson_04.mover:main',
         ],
-- 
GitLab