32 lines
765 B
Python
Executable File
32 lines
765 B
Python
Executable File
#!/usr/bin/env python3
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"""Публикует нулевую скорость обоим роверам."""
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import time
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import rclpy
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from geometry_msgs.msg import Twist
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from rclpy.node import Node
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def main():
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rclpy.init()
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node = Node("mvch_basic_stop_all")
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publishers = [
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node.create_publisher(Twist, "/RMC1/cmd_vel", 10),
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node.create_publisher(Twist, "/RMC2/cmd_vel", 10),
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]
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stop = Twist()
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for _ in range(10):
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for publisher in publishers:
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publisher.publish(stop)
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rclpy.spin_once(node, timeout_sec=0.05)
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time.sleep(0.02)
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print("Нулевая скорость отправлена RMC1 и RMC2")
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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