From 57c9dcb6369ea52f6ac2c1a0a5f87bd517de4109 Mon Sep 17 00:00:00 2001 From: Ilya Date: Mon, 28 Oct 2024 22:55:07 +0300 Subject: [PATCH 1/2] =?UTF-8?q?=D0=94=D0=BE=D0=B1=D0=B0=D0=B2=D0=BB=D0=B5?= =?UTF-8?q?=D0=BD=20=D0=BF=D1=83=D1=82=D1=8C=20=D0=B4=D0=B2=D0=B8=D0=B6?= =?UTF-8?q?=D0=B5=D0=BD=D0=B8=D1=8F=20=D1=87=D0=B5=D1=80=D0=B5=D0=BF=D0=B0?= =?UTF-8?q?=D1=88=D0=BA=D0=B8=20=D0=B2=20=D0=B2=D0=B8=D0=B4=D0=B5=20=D0=B1?= =?UTF-8?q?=D1=83=D0=BA=D0=B2=D1=8B=20'=D0=98'?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index a61bebe..90cc6fb 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -21,7 +21,12 @@ class RurMover(Node): self.get_clock().sleep_for(Duration(seconds=1.0)) def main(self): - pass + self.publish_twist(0.0, -90.0) + self.publish_twist(3.0, 0.0) + self.publish_twist(0.0, 135.0) + self.publish_twist(6.0*70/99, 0.0) + self.publish_twist(0.0, -135.0) + self.publish_twist(3.0, 0.0) def main(args=None): -- GitLab From 5a16bf2eaf466f42d06f81ade3d6524e95cafb99 Mon Sep 17 00:00:00 2001 From: Ilya Date: Mon, 28 Oct 2024 23:16:35 +0300 Subject: [PATCH 2/2] =?UTF-8?q?=D0=94=D0=BE=D0=B1=D0=B0=D0=B2=D0=BB=D0=B5?= =?UTF-8?q?=D0=BD=20=D0=BF=D1=83=D1=82=D1=8C=20=D0=B4=D0=B2=D0=B8=D0=B6?= =?UTF-8?q?=D0=B5=D0=BD=D0=B8=D1=8F=20=D1=87=D0=B5=D1=80=D0=B5=D0=BF=D0=B0?= =?UTF-8?q?=D1=88=D0=BA=D0=B8=20=D0=B2=20=D0=B2=D0=B8=D0=B4=D0=B5=20=D0=B1?= =?UTF-8?q?=D1=83=D0=BA=D0=B2=D1=8B=20=D0=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/mover.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/lesson_04/mover.py b/lesson_04/mover.py index 90cc6fb..8006e82 100644 --- a/lesson_04/mover.py +++ b/lesson_04/mover.py @@ -27,7 +27,7 @@ class RurMover(Node): self.publish_twist(6.0*70/99, 0.0) self.publish_twist(0.0, -135.0) self.publish_twist(3.0, 0.0) - + #1 def main(args=None): rclpy.init(args=args) @@ -37,4 +37,4 @@ def main(args=None): rclpy.shutdown() if __name__ == '__main__': - main() \ No newline at end of file + main() -- GitLab