From d8f1c9e084bcfbb57922bbeb0ac781ea46fe1c26 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=A0=D1=83=D1=81=D1=82=D0=B5=D0=BC=20=D0=94=D0=B6=D0=B5?= =?UTF-8?q?=D0=BB=D0=B8=D0=BB=D0=BE=D0=B2?= Date: Mon, 21 Oct 2024 15:35:59 +0000 Subject: [PATCH] Letter P --- lesson_04/mover.py | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..e4c7fce 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -9,20 +9,26 @@ 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() - def publish_twist(self, linear, angular): +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): + +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): rclpy.init(args=args) @@ -31,5 +37,6 @@ def main(args=None): mover.destroy_node() rclpy.shutdown() + if __name__ == '__main__': main() \ No newline at end of file -- GitLab