Add brake for n seconds method

coordinator/nodes/match.py

@@ -155,6 +155,14 @@ class CoordinatorNode():
             last_theta = self.theta
             time.sleep(send_interval)
 
+    def brake_for_n_seconds(self, secs):
+
+        start = rospy.get_rostime().secs
+
+        while rospy.get_rostime().secs - start < secs:
+            self.set_speed(0, 0)
+            time.sleep(send_interval)
+
     def run(self):
 
         self.change_pwm(True)
@@ -169,11 +177,11 @@ class CoordinatorNode():
 
         # self.move(0.8, forward=True)
         self.turn(radians(45))
-        rospy.sleep(5)
+        self.brake_for_n_seconds(5)
         self.turn(radians(-45))
-        rospy.sleep(5)
+        self.brake_for_n_seconds(5)
         self.turn(radians(0))
-        rospy.sleep(5)
+        self.brake_for_n_seconds(5)
         self.turn(radians(180))
         # self.move(0.4, forward=False)
         # self.turn(radians(-90))