#!/usr/bin/env python3

import rospy
from geometry_msgs.msg import Twist

# Twist: {linear: {x,y,z}, angular:{}}

def talker():
	pub = rospy.Publisher("/turtle1/cmd_vel", Twist, queue_size=10)
	rospy.init_node("turtle_pub")
	rate = rospy.Rate(10) #hz

	while not rospy.is_shutdown(): # exiter med en gang roscore d?r
		inp= input("please provide x,y,theta: ")
		if "exit" in inp:
			break
		inp=inp.split(",")
		
		velocity = Twist()
		velocity.linear.x = float(inp[0])
		velocity.linear.y = float(inp[1])
		velocity.linear.z = 0.0

		velocity.angular.x = 0.0
		velocity.angular.y = 0.0
		velocity.angular.z = float(inp[2])

		pub.publish(velocity)
		rate.sleep()

if __name__ == "__main__":
	try:
		talker()
	except rospy.ROSInterruptException:
		pass