From 3d5e1230f478a01fcaa9550f2f1978ec6f836502 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=92=D0=B8=D0=BE=D0=BB=D0=B5=D1=82=D1=82=D0=B0=20=D0=90?= =?UTF-8?q?=D0=B9=D0=B2=D0=B0=D0=B7=D1=8C=D1=8F=D0=BD?= Date: Mon, 21 Oct 2024 18:06:20 +0000 Subject: [PATCH] Replace mover.py --- lesson_04/mover.py | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..cf0de28 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -1,14 +1,12 @@ import rclpy from rclpy.node import Node from rclpy.duration import Duration - from geometry_msgs.msg import Twist import math - class RurMover(Node): def __init__(self): - super().__init__('minimal_publisher') + super().__init__('minimal_publisher') self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10) self.main() @@ -21,9 +19,15 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass - - + self.publish_twist(0, 60.0) + self.publish_twist(4, 0.0) + self.publish_twist(0, -120.0) + self.publish_twist(4, 0.0) + self.publish_twist(0, 180.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 60.0) + self.publish_twist(2, 0.0) + def main(args=None): rclpy.init(args=args) mover = RurMover() @@ -32,4 +36,4 @@ def main(args=None): rclpy.shutdown() if __name__ == '__main__': - main() \ No newline at end of file + main() -- GitLab