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

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#!/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(3):
		v.linear.x = 2.0
		v.linear.y = 2.0
		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 i in range(2):
		v.linear.x = 0.0
		v.linear.y = 4.0
		v.angular.z = 0.0
        pub.publish(v)
        rate.sleep()

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

if __name__== '__main__':
	move()