# Move ATRV robot to specific distance using ROS

Is there a node or package that can send commands to /cmd_vel to move ATRV-Jr like 2 meters forward or turn it 90 degree to right/left? I don't want to tell the robot to move with specified speed. For example when I use this command rostopic pub /cmd_vel geometry_msgs/Twist '[1.0,0.0,0.0]' '[0.0,0.0,0.0]' the robot starts moving forward until I send another command or send break command.

I've found this usefull:

#!/usr/bin/env python
import rospy

from geometry_msgs.msg import Twist

def mover():
pub = rospy.Publisher('cmd_vel', Twist)
rospy.init_node('robot_mover')

twist = Twist()
twist.linear.x = 0.1; # move forward at 0.1 m/s

pub.publish(twist)
rospy.sleep(1)

twist.linear.x = -0.1; # move backward at 0.1 m/s
pub.publish(twist)
rospy.sleep(1);

twist = Twist();
twist.angular.z = 0.5
pub.publish(twist)
rospy.sleep(1);

twist.angular.z = -0.5
pub.publish(twist)
rospy.sleep(1);