From 4d7c89ce618ce95b36719a5f62ea8234cade49fe Mon Sep 17 00:00:00 2001 From: ailoginov Date: Mon, 21 Oct 2024 20:44:22 +0300 Subject: [PATCH] =?UTF-8?q?=D0=9A=D0=BE=D0=BC=D0=B0=D0=BD=D0=B4=D0=B0=20mo?= =?UTF-8?q?ver=20=D1=82=D0=B5=D0=BF=D0=B5=D1=80=D1=8C=20=D1=80=D0=B8=D1=81?= =?UTF-8?q?=D1=83=D0=B5=D1=82=20=D0=B1=D1=83=D0=BA=D0=B2=D1=83=20S?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..b199363 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -12,17 +12,17 @@ class RurMover(Node): 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, sec=0.99): 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)) + self.get_clock().sleep_for(Duration(seconds=sec)) def main(self): - pass - + self.publish_twist(4, 180) + self.publish_twist(4, -180) def main(args=None): rclpy.init(args=args) -- GitLab