gistfile1.txt

#!/usr/bin/env python
#
#  Issue some random commands to your ROS robot, yay!

import rospy, random
from geometry_msgs.msg import Twist

rospy.init_node("huskytest")

pub = rospy.Publisher("cmd_vel", Twist, queue_size=1)
msg = Twist()

while not rospy.is_shutdown():
    msg.linear.x = random.random() * 1.4 - 0.7
    for a in range(50):
        pub.publish(msg)
        rospy.sleep(rospy.Duration(0.05))