diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..a7735d0703aa9f9f4d517358adf0bb403f338d44 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -21,7 +21,15 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+        self.publish_twist(0, 180.0)
+        self.publish_twist(3.0, -270.0)
+        self.publish_twist(0, 180)
+        self.publish_twist(3.0, 270.0)
+        self.publish_twist(0, -2.5)
+        self.publish_twist(3.0, -270.0)
+        self.publish_twist(0, -180.0)
+        self.publish_twist(3.0, 270.0)
+        self.publish_twist(0, 2.5)
 
 
 def main(args=None):