From 142227780d8c4af4be7a151c51cff1dadcc74d9d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=9F=D0=B5=D1=82=D1=80=20=D0=A7=D0=B5=D0=BC=D0=BE=D0=B4?= =?UTF-8?q?=D0=B0=D0=BD=D0=BE=D0=B2?= Date: Mon, 21 Oct 2024 12:19:35 +0000 Subject: [PATCH] If you use this commit, turtle will write letter "P" --- lesson_04/mover.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..8feb3c8 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): -- GitLab