Im having some issue with my code. The goal is Write some nodes to make the robot move: In a square; In a figure$-$eight; In a triangle.

#$!/$usr$/$bin$/$env python

import time

import tf$2\_$ros

import rospy

from geometry$\_$msgs$.$msg import Twist

import math

from tf$.$transformations import euler$\_$from$\_$quaternion, quaternion$\_$from$\_$euler

# Function to move the robot in the shape of a square

def move$\_$square$()$:

rospy.init$\_$node$(\text{'}$move$\_$square', anonymous$=$True$)$

pub $=$ rospy.Publisher$(\text{'}/$cmd$\_$vel', Twist, queue$\_$size$=10)$

rate $=$ rospy.Rate$(1)$ # $1$ Hz loop rate

move$\_$cmd $=$ Twist$()$

# Define speed parameters

linear$\_$speed $=1\mathrm{.}5$ # meters per second $($forward speed$)$

angular$\_$speed $=$ math.pi $/2$ # $90$ degrees per second $($angular speed$)$

# Distance to move for one side of the square

distance $=6$ # meters $($side length of the square$)$

# Time to complete one side of the square $($based on linear speed$)$

move$\_$time $=$ distance $/$ linear$\_$speed # in seconds

for $\_$ in range$(4)$: # Four sides of the square

# Move forward for the side of the square

move$\_$cmd$.$linear.x $=$ linear$\_$speed

move$\_$cmd$.$angular.z $=0\mathrm{.}0$

pub.publish$($move$\_$cmd$)$

rospy.sleep$($move$\_$time$)$ # Move forward for the calculated duration

# Stop before turning

move$\_$cmd$.$linear.x $=0\mathrm{.}0$

pub.publish$($move$\_$cmd$)$

rospy.sleep$(1)$ # Pause for $1$ second before turning

# Rotate $90$ degrees

move$\_$cmd$.$angular.z $=$ angular$\_$speed

pub.publish$($move$\_$cmd$)$

rospy.sleep$(1)$ # $90$ degrees turn takes $1$ second with angular speed $=$ math.pi$/2$

# Stop rotating

move$\_$cmd$.$angular.z $=0\mathrm{.}0$

pub.publish$($move$\_$cmd$)$

rospy.sleep$(1)$ # Pause before starting the next side

rate.sleep$()$ # Maintain loop rate of $1$ Hz

# Stop the robot after completing the square

move$\_$cmd$.$linear.x $=0\mathrm{.}0$

move$\_$cmd$.$angular.z $=0\mathrm{.}0$

pub.publish$($move$\_$cmd$)$

# Function to move the robot in a figure$-$eight pattern

def move$\_$figure$\_$eight$()$:

rospy.init$\_$node$(\text{'}$move$\_$figure$\_$eight', anonymous$=$True$)$

# Publisher to send messages to the $/$cmd$\_$vel topic

pub $=$ rospy.Publisher$(\text{'}/$cmd$\_$vel', Twist, queue$\_$size$=10)$

# Rate $($in Hz$)$ of publishing the Twist messages

rate $=$ rospy.Rate$(1)$

# Create a Twist message object

move$\_$cmd $=$ Twist$()$

# Loop to repeat the figure$-$eight motion twice

for $\_$ in range$(2)$:

# First loop $($left curve$)$

move$\_$cmd$.$linear.x $=0\mathrm{.}5$

move$\_$cmd$.$angular.z $=$ math.radians$(45)$ # Turn left gradually

pub.publish$($move$\_$cmd$)$

time.sleep$(4)$ # Move for $4$ seconds

# Second loop $($right curve$)$

move$\_$cmd$.$angular.z $=-$math.radians$(45)$ # Turn right gradually

pub.publish$($move$\_$cmd$)$

time.sleep$(4)$ # Move for $4$ seconds

# Stop the robot after completing the figure$-$eight

move$\_$cmd$.$linear.x $=0\mathrm{.}0$

move$\_$cmd$.$angular.z $=0\mathrm{.}0$

pub.publish$($move$\_$cmd$)$

# Function to move the robot in a triangle pattern

def move$\_$triangle$()$:

rospy.init$\_$node$(\text{'}$move$\_$triangle', anonymous$=$True$)$

pub $=$ rospy.Publisher$(\text{'}/$cmd$\_$vel', Twist, queue$\_$size$=10)$

rate $=$ rospy.Rate$(1)$ # $1$ Hz loop rate

move$\_$cmd $=$ Twist$()$

# Define speed parameters

linear$\_$speed $=1\mathrm{.}5$ # meters per second $($forward speed$)$

angular$\_$speed $=$ math.pi # radians per second $($angular speed for $180$ degrees per second$)$

# Distance to move for one side of the triangle $(2$ seconds at linear$\_$speed$)$

side$\_$length $=2$ # meters $($side of the triangle$)$

# Time to complete one side of the triangle $($based on linear speed$)$

move$\_$time $=$ side$\_$length $/$ linear$\_$speed # time $=$ distance $/$ speed $($in seconds$)$

for $\_$ in range$(3)$: # Three sides of the triangle

# Move forward for the side of the triangle

move$\_$cmd$.$linear.x $=$ linear$\_$speed

move$\_$cmd$.$angular.z $=0\mathrm{.}0$

pub.publish$($move$\_$cmd$)$

rospy.sleep$($move$\_$time$)$ # Sleep for the duration to cover the side length

# Stop before turning

move$\_$cmd$.$linear.x $=0\mathrm{.}0$

pub.publish$($move$\_$cmd$)$

rospy.sleep$(1)$ # Stop for $1$ second

# Rotate $120$ degrees $($angular speed $=$ math.pi radians$/$s$,120$ degrees $=2$pi$/3$ radians$)$

move$\_$cmd$.$angular.z $=$ angular$\_$speed # Set angular velocity for $120-$degree turn

pub.publish$($move$\_$cmd$)$

# Time to complete the $120-$degree turn $(2$$/3$ radians$)$

turn$\_$time $=(2*$ math.pi $/3)/$ angular$\_$speed # Time $=$ angle $/$ angular speed

rospy.sleep$($turn$\_$time$)$ # Sleep for the duration of the turn

# Stop rotating

move$\_$cmd$.$angular.z $=0\mathrm{.}0$

pub.publish$($move$\_$cmd$)$

rospy.sleep$(1)$ # Pause for a moment before starting the next side

# Stop after completing the triangle movement

move$\_$cmd$.$linear.x $=0\mathrm{.}0$

move$\_$cmd$.$angular.z $=0\mathrm{.}0$

pub