作业提交里的t_shape代码有错，这里更新了一下
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
import time

def main():
    rclpy.init()
    
    node = Node('circle_navigation')
    
    publisher = node.create_publisher(Twist, '/cmd_vel', 10)
    
    node.get_logger().info("=== 开始绕圈导航 ===")
    

    time.sleep(2.0)
    
    try:

        movements = [
            {"name": "前进3秒", "linear": 0.2, "angular": 0.0, "duration": 3.0},
            {"name": "左转2秒", "linear": 0.0, "angular": 0.5, "duration": 2.0},
            {"name": "前进3秒", "linear": 0.2, "angular": 0.0, "duration": 3.0},
            {"name": "左转2秒", "linear": 0.0, "angular": 0.5, "duration": 2.0},
            {"name": "前进3秒", "linear": 0.2, "angular": 0.0, "duration": 3.0},
            {"name": "左转2秒", "linear": 0.0, "angular": 0.5, "duration": 2.0},
            {"name": "前进3秒回到起点", "linear": 0.2, "angular": 0.0, "duration": 3.0},
        ]
        
        for i, move in enumerate(movements):
            node.get_logger().info(f"动作 {i+1}/{len(movements)}: {move['name']}")
            
            twist = Twist()
            twist.linear.x = move['linear']
            twist.angular.z = move['angular']
            publisher.publish(twist)
            
            time.sleep(move['duration'])
        
        node.get_logger().info("=== 绕圈导航完成 ===")
        
    finally:
        stop_twist = Twist()
        publisher.publish(stop_twist)
        node.get_logger().info("机器人已停止")
        node.get_logger().info("很多没明白用AI写的呜呜呜")
        
        node.destroy_node()
        rclpy.shutdown()

if __name__ == '__main__':
    main()

##################################################################################################################
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
import time

def main():
    rclpy.init()
    
    node = Node('t_shape_movement')
    publisher = node.create_publisher(Twist, '/cmd_vel', 10)
    
    node.get_logger().info("=== 开始T字形运动控制 ===")
    time.sleep(2.0)
    
    cycle_count = 0
    
    try:
        while True:
            cycle_count += 1
            node.get_logger().info(f"=== 第 {cycle_count} 次T字形循环开始 ===")
            
            # 1. 从起点到中心点（竖线）- 面向前
            node.get_logger().info("竖线: 向前移动到中心点")
            twist = Twist()
            twist.linear.x = 0.15
            publisher.publish(twist)
            time.sleep(2.0)
            twist = Twist()
            publisher.publish(twist)
            time.sleep(0.5)
            
            # 2. 左横线：左转90度前进然后返回
            node.get_logger().info("左横线: 左转90度")
            twist = Twist()
            twist.angular.z = 0.5
            publisher.publish(twist)
            time.sleep(3.14)  # 90度，现在面向左
            twist = Twist()
            publisher.publish(twist)
            time.sleep(0.3)
            
            node.get_logger().info("左横线: 向左前进")
            twist = Twist()
            twist.linear.x = 0.15
            publisher.publish(twist)
            time.sleep(1.5)  # 左横线前进
            twist = Twist()
            publisher.publish(twist)
            time.sleep(0.5)
            
            node.get_logger().info("左横线: 后退回中心")
            twist = Twist()
            twist.linear.x = -0.15
            publisher.publish(twist)
            time.sleep(1.5)  # 后退到中心，仍面向左
            twist = Twist()
            publisher.publish(twist)
            time.sleep(0.3)
            
            # 3. 右横线：右转180度前进然后返回
            node.get_logger().info("右横线: 右转180度")
            twist = Twist()
            twist.angular.z = -0.5
            publisher.publish(twist)
            time.sleep(6.28)  # 180度，从面向左转到面向右
            twist = Twist()
            publisher.publish(twist)
            time.sleep(0.3)
            
            node.get_logger().info("右横线: 向右前进")
            twist = Twist()
            twist.linear.x = 0.15
            publisher.publish(twist)
            time.sleep(1.5)  # 右横线前进
            twist = Twist()
            publisher.publish(twist)
            time.sleep(0.5)
            
            node.get_logger().info("右横线: 后退回中心")
            twist = Twist()
            twist.linear.x = -0.15
            publisher.publish(twist)
            time.sleep(1.5)  # 后退到中心，仍面向右
            twist = Twist()
            publisher.publish(twist)
            time.sleep(0.3)
            
            # 4. 回到起点：左转90度后退
            node.get_logger().info("回到起点: 左转90度")
            twist = Twist()
            twist.angular.z = 0.5
            publisher.publish(twist)
            time.sleep(3.14)  # 90度，从面向右转到面向前
            twist = Twist()
            publisher.publish(twist)
            time.sleep(0.3)
            
            node.get_logger().info("回到起点: 向后移动")
            twist = Twist()
            twist.linear.x = -0.15
            publisher.publish(twist)
            time.sleep(2.0)  # 后退到起点
            
            node.get_logger().info(f"=== 第 {cycle_count} 次T字形完成 ===")
            node.get_logger().info("等待3秒后开始下一次循环...")
            twist = Twist()
            publisher.publish(twist)
            time.sleep(3.0)
            
    except KeyboardInterrupt:
        node.get_logger().info("程序被用户中断")
    except Exception as e:
        node.get_logger().error(f"发生错误: {e}")
    finally:
        twist = Twist()
        publisher.publish(twist)
        node.get_logger().info("机器人已停止")
        node.destroy_node()
        rclpy.shutdown()

if __name__ == '__main__':
    main()