From 7e4cd3454c8fb3f0be33c9a20e3fcef7268d7be5 Mon Sep 17 00:00:00 2001 From: Alexandra Vatulina Date: Thu, 7 Nov 2024 18:11:46 +0000 Subject: [PATCH 1/4] Add new file --- turtle_a.sh | 46 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 46 insertions(+) create mode 100644 turtle_a.sh diff --git a/turtle_a.sh b/turtle_a.sh new file mode 100644 index 0000000..2eccf58 --- /dev/null +++ b/turtle_a.sh @@ -0,0 +1,46 @@ +mport 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, 75.0) + self.publish_twist(3.0, 0.0) + self.publish_twist(0, -150.0) + self.publish_twist(3.0, 0.0) + self.publish_twist(0, 180.2) + self.publish_twist(1.0, 0.0) + self.publish_twist(0, 72.3) + self.publish_twist(1.1, 0.0) + self.publish_twist(0, 72.3) + self.publish_twist(1.0, 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 From 8120b38eebf2f65d82aceec5fd43b12074db2029 Mon Sep 17 00:00:00 2001 From: Alexandra Vatulina Date: Thu, 7 Nov 2024 18:19:03 +0000 Subject: [PATCH 2/4] Delete __init__.py --- lesson_04/__init__.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 lesson_04/__init__.py diff --git a/lesson_04/__init__.py b/lesson_04/__init__.py deleted file mode 100644 index e69de29..0000000 -- GitLab From f5d4d1947c3d989cad4da2bce2a71a0073fc9ed8 Mon Sep 17 00:00:00 2001 From: Alexandra Vatulina Date: Thu, 7 Nov 2024 18:23:04 +0000 Subject: [PATCH 3/4] Upload New File --- lesson_04/turtle_a.py | 45 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 45 insertions(+) create mode 100644 lesson_04/turtle_a.py diff --git a/lesson_04/turtle_a.py b/lesson_04/turtle_a.py new file mode 100644 index 0000000..f228a09 --- /dev/null +++ b/lesson_04/turtle_a.py @@ -0,0 +1,45 @@ +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, 75.0) + self.publish_twist(3.0, 0.0) + self.publish_twist(0, -150.0) + self.publish_twist(3.0, 0.0) + self.publish_twist(0, 180.2) + self.publish_twist(1.0, 0.0) + self.publish_twist(0, 72.3) + self.publish_twist(1.1, 0.0) + self.publish_twist(0, 72.3) + self.publish_twist(1.0, 0.0) + + +def main(args=None): + rclpy.init(args=args) + mover = RurMover() + rclpy.spin(mover) + mover.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() -- GitLab From 6282b00e548aa1e144175a45b84ac95d81076635 Mon Sep 17 00:00:00 2001 From: Alexandra Vatulina Date: Thu, 7 Nov 2024 18:23:57 +0000 Subject: [PATCH 4/4] Delete turtle_a.sh --- turtle_a.sh | 46 ---------------------------------------------- 1 file changed, 46 deletions(-) delete mode 100644 turtle_a.sh diff --git a/turtle_a.sh b/turtle_a.sh deleted file mode 100644 index 2eccf58..0000000 --- a/turtle_a.sh +++ /dev/null @@ -1,46 +0,0 @@ -mport 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, 75.0) - self.publish_twist(3.0, 0.0) - self.publish_twist(0, -150.0) - self.publish_twist(3.0, 0.0) - self.publish_twist(0, 180.2) - self.publish_twist(1.0, 0.0) - self.publish_twist(0, 72.3) - self.publish_twist(1.1, 0.0) - self.publish_twist(0, 72.3) - self.publish_twist(1.0, 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