test_forwardbackward.py

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#!/usr/bin/env python

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#  

import rospy
from kobuki_testsuite import Square 
from geometry_msgs.msg import Twist

# Robot moves forward and backward to check robot moves straight or not.


def publish(pub, v, sec):
    cnt = 0
    m = sec * 2
    
    while cnt < m and not rospy.is_shutdown(): 
        pub.publish(v)
        cnt = cnt + 1
        rospy.sleep(0.5)

if __name__ == '__main__':

    rospy.init_node('test_square')

    cmdvel_topic ='/cmd_vel_mux/input/teleop'

    pub = rospy.Publisher(cmdvel_topic, Twist)

    vel = Twist() 

    while not rospy.is_shutdown():
        vel.linear.x = 0.05
        rospy.loginfo("Moving forward")
        publish(pub, vel, 15)
        rospy.loginfo("Done")
        rospy.sleep(2)

        vel.linear.x = -0.05
        rospy.loginfo("Moving backward")
        publish(pub, vel, 15)
        rospy.loginfo("Done")
        rospy.sleep(2)