From 71646e661ec69bfdeb2c8ebbe4341c2ac1bca51f Mon Sep 17 00:00:00 2001
From: sberestov <beresta.izh@gmail.com>
Date: Tue, 22 Oct 2024 00:41:38 +0300
Subject: [PATCH 1/2] Modified setup.py to run new node

---
 setup.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/setup.py b/setup.py
index 9e5dc57..20e9cc1 100644
--- a/setup.py
+++ b/setup.py
@@ -28,6 +28,7 @@ setup(
             'step_3 = lesson_04.step_3:main',
             'square = lesson_04.square:main',
             'mover = lesson_04.mover:main',
+            'letter = lesson_04.letter:main',
         ],
     },
 )
-- 
GitLab


From f64aacb7cf9de012f57abe56d02661ac787f138e Mon Sep 17 00:00:00 2001
From: sberestov <beresta.izh@gmail.com>
Date: Tue, 22 Oct 2024 00:44:25 +0300
Subject: [PATCH 2/2] Added a node to draw letter S

---
 lesson_04/letter.py | 48 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 lesson_04/letter.py

diff --git a/lesson_04/letter.py b/lesson_04/letter.py
new file mode 100644
index 0000000..16dd9ce
--- /dev/null
+++ b/lesson_04/letter.py
@@ -0,0 +1,48 @@
+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')
+        self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
+        self.main()
+
+    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):
+        self.publish_twist(0, 135.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, 55.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, 45.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -45.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -45.0)
+        self.publish_twist(1, 0.0)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    mover = RurMover()
+
+    rclpy.spin(mover)
+
+    mover.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
-- 
GitLab