text: #!/usr/bin/env python3
  
  # pylint: disable-all
  
  """Node simples de exemplo para realização de testes
  
  File
  -------
  sumo_controller/src/example_node.py
  
  Authors
  -------
      ThundeRatz Team <comp@thunderatz.org>
  """
  
  import rospy
  from std_msgs.msg import Float64
  from utils.motors import Motors
  from utils.match_state import MatchState
  
  CONTROL_RATE = 60  # Hz
  
  def main():
      """ Lógica principal do node de controle
      """
      rospy.init_node("sumo_controller", disable_signals=True, anonymous=True)
      rospy.loginfo(f"Node de controle iniciado {rospy.get_time()}")
      rate = rospy.Rate(CONTROL_RATE)
  
      # Corrija o nome dos tópicos!!!
      motors = Motors("robot_left_controller/command", "robot_right_controller/command")
      match_state = MatchState("/sumo/start")
  
      while not rospy.is_shutdown():
          if match_state.started():
              motors.drive(100, 100)
          else:
              motors.drive(0, 0)
  
          rate.sleep()
  
  if __name__ == "__main__":
      try:
          main()
      except (rospy.ROSInterruptException, KeyboardInterrupt):
          pass
      finally:
          # Corrija o nome dos tópicos!!!
          left_motor_pub = rospy.Publisher("robot_left_controller/command", Float64, queue_size=1)
          right_motor_pub = rospy.Publisher("robot_right_controller/command", Float64, queue_size=1)
  
          left_motor_pub.publish(Float64(0))
          right_motor_pub.publish(Float64(0))
  