From c1d1980d025f9fd2a441abaa3471380ad6d0ca3a Mon Sep 17 00:00:00 2001 From: PsorokinMgorchakov Date: Tue, 22 Oct 2024 00:14:27 +0300 Subject: [PATCH 1/3] poxui --- lesson_04/mover.py | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..4e89bdc 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -21,7 +21,24 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass + self.publish_twist(0, 0.0) + self.publish_twist(3, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(1, 0.0) + self.publish_twist(0, 180.0) + self.publish_twist(3, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(4, 0.0) + self.publish_twist(0, 0.0) + self.publish_twist(3, 0.0) + self.publish_twist(0, 135.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 45.0) + self.publish_twist(2, 0.0) + self.publish_twist(0, 180.0) + self.publish_twist(3, 0.0) + + def main(args=None): -- GitLab From 65721bd49edcd35a9d0d5fdb787e847ed3196c41 Mon Sep 17 00:00:00 2001 From: PsorokinMgorchakov Date: Tue, 22 Oct 2024 00:26:27 +0300 Subject: [PATCH 2/3] mover to turtle --- lesson_04/mover.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index 4e89bdc..ccf98de 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -37,6 +37,9 @@ class RurMover(Node): self.publish_twist(2, 0.0) self.publish_twist(0, 180.0) self.publish_twist(3, 0.0) + self.publish_twist(0, 90.0) + self.publish_twist(4, 0.0) + -- GitLab From 1523211828cccb8617f7ec44fd84a30eeabbd746 Mon Sep 17 00:00:00 2001 From: PsorokinMgorchakov Date: Tue, 22 Oct 2024 00:38:37 +0300 Subject: [PATCH 3/3] mover to turtle --- lesson_04/mover.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index ccf98de..af1f576 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -37,13 +37,12 @@ class RurMover(Node): self.publish_twist(2, 0.0) self.publish_twist(0, 180.0) self.publish_twist(3, 0.0) - self.publish_twist(0, 90.0) - self.publish_twist(4, 0.0) + def main(args=None): rclpy.init(args=args) mover = RurMover() -- GitLab