From 792cc09eaf74f3c92186aaafef54dc0481f35e17 Mon Sep 17 00:00:00 2001 From: Vasilii_Sokolov Date: Thu, 4 Jan 2024 15:18:32 +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=D1=84=D0=B0=D0=B9=D0=BB,=20=D0=BA=D0=BE=D1=82=D0=BE?= =?UTF-8?q?=D1=80=D1=8B=D0=B9=20=D0=B7=D0=B0=D1=81=D1=82=D0=B0=D0=B2=D0=BB?= =?UTF-8?q?=D1=8F=D0=B5=D1=82=20=D1=87=D0=B5=D1=80=D0=B5=D0=BF=D0=B0=D1=88?= =?UTF-8?q?=D0=BA=D1=83=20=D1=80=D0=B8=D1=81=D0=BE=D0=B2=D0=B0=D1=82=D1=8C?= =?UTF-8?q?=20=D0=B7=D0=B2=D1=91=D0=B7=D0=B4=D0=BE=D1=87=D0=BA=D1=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- lesson_04/star_p.py | 41 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 lesson_04/star_p.py diff --git a/lesson_04/star_p.py b/lesson_04/star_p.py new file mode 100644 index 0000000..e096e4e --- /dev/null +++ b/lesson_04/star_p.py @@ -0,0 +1,41 @@ +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__('rur_mover') + self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10) + self.main() + + def publish_twist(self, 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): + # Рисование человечка + self.publish_twist(2, 90.0) # Двигаться вперед + self.publish_twist(0, 180) # Поворот влево + self.publish_twist(2, 90) # Двигаться вперед + self.publish_twist(0, -180) # Поворот вправо + self.publish_twist(2, 90.0) # Двигаться вперед + self.publish_twist(0, -180) # Поворот вправо + self.publish_twist(2, 90.0) # Вращение + +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 1e797d96815cc863cf98f9acbe5f5ebe645fc1a0 Mon Sep 17 00:00:00 2001 From: Vasilii_Sokolov Date: Thu, 4 Jan 2024 19:36:33 +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=D1=84=D0=B0=D0=B9=D0=BB=20=D0=B4=D0=BB=D1=8F=20=D1=83?= =?UTF-8?q?=D1=81=D0=BF=D0=B5=D1=88=D0=BD=D0=BE=D0=B3=D0=BE=20=D0=B7=D0=B0?= =?UTF-8?q?=D0=BF=D1=83=D1=81=D0=BA=D0=B0=20=D0=BD=D0=BE=D0=B4=D0=B0,=20?= =?UTF-8?q?=D0=B8=D0=B7=D0=BC=D0=B5=D0=BD=D0=B5=D0=BD=D0=B8=D1=8F=20=D0=B2?= =?UTF-8?q?=D0=BD=D1=91=D1=81=20=D0=B2=20setup.py,=20=D0=BA=D0=BE=D1=82?= =?UTF-8?q?=D0=BE=D1=80=D1=8B=D0=B9=20=D0=B7=D0=B0=D1=81=D1=82=D0=B0=D0=B2?= =?UTF-8?q?=D0=BB=D1=8F=D0=B5=D1=82=20=D1=87=D0=B5=D1=80=D0=B5=D0=BF=D0=B0?= =?UTF-8?q?=D1=88=D0=BA=D1=83=20=D1=80=D0=B8=D1=81=D0=BE=D0=B2=D0=B0=D1=82?= =?UTF-8?q?=D1=8C=20=D0=B7=D0=B2=D1=91=D0=B7=D0=B4=D0=BE=D1=87=D0=BA=D1=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- setup.py | 1 + 1 file changed, 1 insertion(+) diff --git a/setup.py b/setup.py index aa0b240..8365371 100644 --- a/setup.py +++ b/setup.py @@ -26,6 +26,7 @@ setup( 'step_3 = lesson_04.step_3:main', 'square = lesson_04.square:main', 'mover = lesson_04.mover:main', + 'star_p = lesson_04.star_p:main', ], }, ) -- GitLab