text: #!/usr/bin/env python3
  
  import rclpy
  from rclpy.node import Node
  from geometry_msgs.msg import Twist
  import math
  
  class MoveControllerNode(Node): 
      def __init__(self):
          super().__init__("move_controller") 
  
          self.cmd_vel_publisher_ = self.create_publisher(
          Twist, "turtle1/cmd_vel", 10)
  
          self.control_loop_timer_ = self.create_timer(0.01, self.control_loop)
  
      def control_loop(self):
          msg = Twist()
          msg.linear.x = 2.0
          msg.angular.z =0.3*math.pi
  
          # self.get_logger().info("publishing to turtle1/cmd_vel")
          self.cmd_vel_publisher_.publish(msg)
  
  def main(args=None):
      rclpy.init(args=args)
      node = MoveControllerNode() 
      rclpy.spin(node)
      rclpy.shutdonw()
  
  if __name__ == "__main__":
      main()