From 96865372889e3dad54a25a2ec1ee5444841e7935 Mon Sep 17 00:00:00 2001 From: kvotchenko Date: Mon, 21 Oct 2024 20:28:56 +0300 Subject: [PATCH] =?UTF-8?q?=D0=9F=D1=80=D0=BE=D0=B3=D1=80=D0=B0=D0=BC?= =?UTF-8?q?=D0=BC=D0=B0=20=D0=B8=D0=B7=D0=BC=D0=B5=D0=BD=D0=B5=D0=BD=D0=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..730b149 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -21,7 +21,14 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass + self.publish_twist(0, 90.0) + self.publish_twist(4, 0.0) + self.publish_twist(-2, 0.0) + self.publish_twist(2.4, -60.0) + self.publish_twist(-2.4, 60.0) + self.publish_twist(2.4, -180.0) + self.publish_twist(0, 180.0) + self.publish_twist(-2, 0.0) def main(args=None): @@ -32,4 +39,4 @@ def main(args=None): rclpy.shutdown() if __name__ == '__main__': - main() \ No newline at end of file + main() -- GitLab