#!/usr/bin/env python
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# Revision $Id$

## Simple talker demo that published std_msgs/Strings messages
## to the 'chatter' topic

import rospy
from geometry_msgs.msg import Twist
def turtle_move():
    pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    rospy.init_node('turtle_move', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        lin = [ 0.0, 0.0, 0.0]
	ang = [ 0.0, 0.0, 0.0]
	i = 0;
	while(True):
		if i < 10:
			lin[0] += 1.0
			i +=2
			rospy.loginfo(lin)
			rospy.loginfo(ang)
			pub.publish(lin, ang)		
			rate.sleep()
		else:
			ang[2] += 1.8
			i = 0	
		
 			rospy.loginfo(lin)
        		rospy.loginfo(ang)
		        pub.publish(lin, ang)
        		rate.sleep()

if __name__ == '__main__':
    try:
        turtle_move()
    except rospy.ROSInterruptException:
        pass
