text: import rospy
  from geometry_msgs.msg import TwistStamped
  import timeit
  
  # initialise ros node
  rospy.init_node('move_to_points_example', disable_signals=True)
  vel_pub = rospy.Publisher('/arm/cartesian/velocity', TwistStamped, queue_size=1)
  
  # Cartesian velocity example
  DESIRED_TIME=2
  print('Moving {} for {} seconds'.format('up', DESIRED_TIME))
  ts = TwistStamped()
  ts.twist.linear.z = 0.1
  
  start_time = timeit.default_timer()
  
  while timeit.default_timer() - start_time < DESIRED_TIME:
      vel_pub.publish(ts)
  
  vel_pub.publish(TwistStamped())
  
  print('Moving {} for {} seconds'.format('down', DESIRED_TIME))
  ts = TwistStamped()
  ts.twist.linear.z = -0.1
  
  start_time = timeit.default_timer()
  
  while timeit.default_timer() - start_time < DESIRED_TIME:
      vel_pub.publish(ts)
  
  print('Moving {} for {} seconds'.format('forward', DESIRED_TIME))
  ts = TwistStamped()
  ts.twist.linear.x = 0.1
  
  start_time = timeit.default_timer()
  
  while timeit.default_timer() - start_time < DESIRED_TIME:
      vel_pub.publish(ts)
  
  vel_pub.publish(TwistStamped())
  
  print('Moving {} for {} seconds'.format('backwards', DESIRED_TIME))
  ts = TwistStamped()
  ts.twist.linear.x = -0.1
  
  start_time = timeit.default_timer()
  
  while timeit.default_timer() - start_time < DESIRED_TIME:
      vel_pub.publish(ts)
  
  vel_pub.publish(TwistStamped())