feat: Added leader evasion Python boilerplate for Task 6

Author: CODER-7777

tasks/task_6/task_6_src/leader_evasion.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+import math
+import time
+
+class LeaderEvasionNode(Node):
+    def __init__(self):
+        super().__init__('leader_evasion_node')
+        
+        # Publisher for velocity commands via MAVROS
+        self.vel_pub = self.create_publisher(
+            Twist,
+            '/iris_1/mavros/setpoint_velocity/cmd_vel_unstamped',
+            10
+        )
+        
+        self.timer = self.create_timer(0.1, self.timer_callback)
+        self.start_time = time.time()
+        self.get_logger().info("Leader Evasion Node started. Executing maneuvers...")
+
+    def timer_callback(self):
+        t = time.time() - self.start_time
+        
+        msg = Twist()
+        # Complex figure-eight and altitude changing maneuver
+        msg.linear.x = 2.0 * math.sin(0.5 * t)
+        msg.linear.y = 1.5 * math.cos(0.2 * t)
+        msg.linear.z = 0.5 * math.sin(0.3 * t)
+        msg.angular.z = 0.5 * math.cos(0.4 * t)
+        
+        self.vel_pub.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = LeaderEvasionNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()