diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..885bd3eb2cae4917ccbea3a6fa48dcd33f2eda53 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -8,12 +8,11 @@ import math
 
 class RurMover(Node):
     def __init__(self):
-        super().__init__('minimal_publisher')
+        super().__init__('rur_mover')
         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))
@@ -21,15 +20,26 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+        self.publish_twist(2, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(4, 0.0)
+        self.publish_twist(0, 60.0)
+        self.publish_twist(3, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(6.5, 0.0)
+        self.publish_twist(0, -115.0)
+        self.publish_twist(6.5, 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
+    main()