tryc

#!/usr/bin/env python

import rospy
import random
from geometry_msgs.msg import Twist, Pose

MULT = 1

def callback(data):
	pub = rospy.Publisher('turtle1/cmd_vel', Twist, queue_size=10)
	if data.linear.x != 0.0 and random.random() < 0.2:
		data.angular.z = random.uniform(-1.0, 1.0)*MULT
	elif data.angular.z != 0.0 and random.random() < 0.2:
		data.linear.x *= -1
	pub.publish(data)

def listen():
	rospy.init_node('emmerdeur', anonymous=True)
	rospy.Subscriber('teleop/cmd_vel', Twist, callback)
	rospy.spin()

if __name__ == '__main__':
	try:
		listen()
	except rospy.ROSInterruptException:
		pass