From b4ddc3499efafb977c2a109fde3a93e39e942513 Mon Sep 17 00:00:00 2001
From: Sergey Vatulin <vatulin83@gmail.com>
Date: Thu, 7 Nov 2024 19:13:44 +0000
Subject: [PATCH] Upload New File

---
 lesson_04/turtle_s.py | 33 +++++++++++++++++++++++++++++++++
 1 file changed, 33 insertions(+)
 create mode 100644 lesson_04/turtle_s.py

diff --git a/lesson_04/turtle_s.py b/lesson_04/turtle_s.py
new file mode 100644
index 0000000..60c43f0
--- /dev/null
+++ b/lesson_04/turtle_s.py
@@ -0,0 +1,33 @@
+import rclpy
+from rclpy.node import Node
+
+from geometry_msgs.msg import Twist
+
+
+class RurMover(Node):
+    def __init__(self):
+        super().__init__('rur_mover')
+        self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
+        self.main()
+
+    def main(self):
+        msg = Twist()
+        msg.linear.x = -7.0
+        msg.angular.z = -3.14
+        self.publisher_twist.publish(msg)
+        
+
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    mover = RurMover()
+
+    rclpy.spin(mover)
+
+    mover.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
-- 
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