ROS/rectangle.py at main · kosakanishkdev/ROS · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Twist

def move():
	rospy.init_node("move", anonymous = True)
	pub = rospy.Publisher("/turtle1/cmd_vel",Twist, queue_size = 10)
	rate = rospy.Rate(1)
	v = Twist()


	for i in range(2):
		v.linear.x = 1.0
		v.linear.y = 0.0
		v.angular.z = 0.0
		pub.publish(v)
		rate.sleep()

		v.linear.x = 0.0
		v.linear.y =0.0
		v.angular.z = 1.57
		pub.publish(v)
		rate.sleep()

	for j in range(1):
		v.linear.x = 4.0
		v.linear.y = 0.0
		v.angular.z = 0.0
		pub.publish(v)
		rate.sleep()

		v.linear.x = 0.0
		v.linear.y = 0.0
		v.angular.z = 1.57
		pub.publish(v)
		rate.sleep()

	for k in range(1):
		v.linear.x = 1.0
		v.linear.y = 0.0
		v.angular.z = 0.0
		pub.publish(v)
		rate.sleep()

		v.linear.x = 0.0
		v.linear.y = 0.0
		v.angular.z = 1.57
		pub.publish(v)
		rate.sleep()

		v.linear.x = 4.0
		v.linear.y = 0.0
		v.angular.z =0.0
		pub.publish(v)
		rate.sleep()

if __name__== '__main__':
	move()