Non-Degree Day2 Group 2B for practice

pub.py

#!/usr/bin/env python
"""
รันด้วยคำสั่ง rosrun my_turtlesim pub.py
"""
import rospy
from geometry_msgs.msg import Twist
import time

vel = Twist()  # Variable Twist

def main ():
    rospy.init_node('turtle_commander', anonymous=True)
    rate = rospy.Rate(10) # 10 Hz
    pub = rospy.Publisher('/turtle1/cmd_vel', Twist,queue_size=10)
    
    timestart = time.time()
    while not rospy.is_shutdown():
        timenow = time.time()
        counter = timenow - timestart
        # TODO
        print("Turtle is running.", counter)

        # if (counter >0 and counter <= 2):
        #     vel.linear.x = 1
        # elif (counter >2 and counter <= 5):
        #     vel.linear.x = 0
        #     vel.angular.z = 1
        # else:
        #     vel.linear.x = 0
        #     vel.angular.z = 0
        #     break

        # END
        pub.publish(vel)
        rate.sleep()
        
if __name__ == '__main__':
    try:
        main ()
    except rospy.ROSInterruptException:
        pass