gistfile1.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from geometry_msgs.msg import Twist


def main():
    rospy.init_node("move_test", anonymous=False)

    cmd_vel = rospy.Publisher("/r1/cmd_vel", Twist, queue_size=10)

    r = rospy.Rate(10)

    move_cmd = Twist()
    move_cmd.linear.x = 0.2
    move_cmd.angular.z = 0.5

    while not rospy.is_shutdown():
        cmd_vel.publish(move_cmd)

        r.sleep()

    cmd_vel.publish(Twist())
    rospy.sleep(1)


if __name__ == "__main__":
    main()