#!/usr/bin/env python3
import rospy
from geometry_msgs.msg import Twist
# Twist: {linear: {x,y,z}, angular:{}}
def talker():
pub = rospy.Publisher("/turtle1/cmd_vel", Twist, queue_size=10)
rospy.init_node("turtle_pub")
rate = rospy.Rate(10) #hz
while not rospy.is_shutdown(): # exiter med en gang roscore d?r
inp= input("please provide x,y,theta: ")
if "exit" in inp:
break
inp=inp.split(",")
velocity = Twist()
velocity.linear.x = float(inp[0])
velocity.linear.y = float(inp[1])
velocity.linear.z = 0.0
velocity.angular.x = 0.0
velocity.angular.y = 0.0
velocity.angular.z = float(inp[2])
pub.publish(velocity)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass