diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..8feb3c899d50a19fad6734d401a03f0041d9faf3 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -8,7 +8,7 @@ import math
 
 class RurMover(Node):
     def __init__(self):
-        super().__init__('minimal_publisher')
+        super().__init__('rur_mover')
         self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
         self.main()
 
@@ -21,7 +21,12 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+        msg = Twist()
+        self.publish_twist(0, 90.0)
+        self.publish_twist(4, 0.0)
+        msg.linear.x = 5.0
+        msg.angular.z = -6.28
+        self.publisher_twist.publish(msg)
 
 
 def main(args=None):