From f634e227400adaf20f3eba04fb0e3ead2154869d Mon Sep 17 00:00:00 2001 From: Alina Date: Sun, 20 Oct 2024 23:20:46 +0300 Subject: [PATCH] =?UTF-8?q?=D0=98=D0=B7=D0=BC=D0=B5=D0=BD=D0=B5=D0=BD=20?= =?UTF-8?q?=D0=BA=D0=BE=D0=B4=20=D0=B4=D0=BB=D1=8F=20=D1=80=D0=B8=D1=81?= =?UTF-8?q?=D0=BE=D0=B2=D0=B0=D0=BD=D0=B8=D1=8F=20=D0=B1=D1=83=D0=BA=D0=B2?= =?UTF-8?q?=D1=8B=20A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..cf0de28 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -1,14 +1,12 @@ 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') + super().__init__('minimal_publisher') self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10) self.main() @@ -21,9 +19,15 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass - - + self.publish_twist(0, 60.0) + self.publish_twist(4, 0.0) + self.publish_twist(0, -120.0) + self.publish_twist(4, 0.0) + self.publish_twist(0, 180.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 60.0) + self.publish_twist(2, 0.0) + def main(args=None): rclpy.init(args=args) mover = RurMover() @@ -32,4 +36,4 @@ def main(args=None): rclpy.shutdown() if __name__ == '__main__': - main() \ No newline at end of file + main() -- GitLab