text: #! /usr/bin/env python
  
  import json
  import math
  import rospy as ros
  import time
  
  from std_msgs.msg import String
  from tigrillo_ctrl.msg import Sensors, Motors, Imu
  
  # Create node
  ros.init_node('tigrillo_ctrl_test', anonymous=True)
  pub = ros.Publisher('tigrillo_rob/uart_actuators', Motors, queue_size=1)
  
  
  t_max = 50
  t = 0
  dt = 0.01
  
  # In a loop, send a actuation signal
  while not ros.is_shutdown() and t < t_max:
  	
  	FL = -math.pi / 2 * math.sin(t)
  	FR = math.pi / 2 * math.sin(t)
  	BL = math.pi / 2 * math.sin(t)
  	BR = -math.pi / 2 * math.sin(t)
  
  	pub.publish(FL=FL, FR=FR, BL=BL, BR=BR)
  	
  	time.sleep(dt)
  	t += dt