moving mobile robot in zigzag way

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Hello,

I want to move the husky robot using a code that publishes the command velocities. the movement should be like zigzag. here is the code that I am trying but it is not working.. I did not knew how to do it. Any help please ?

//const double M_PI=3.14159265359 ;
 const double deg_to_rad = M_PI / 180.0 ;
class test_pf
 {
 public:
test_pf(ros::NodeHandle & n_) : n(n_)
{
    vel_pub = n.advertise<geometry_msgs::Twist>("/husky_ns/husky/cmd_vel", 100);
};

void move(double val)
{
    geometry_msgs::Twist msg;
            msg.linear.x = val;
            msg.linear.y =  0.0 ;
            msg.linear.z =  0.0;
            msg.angular.x = 0 ;
            msg.angular.y = 0 ;
            msg.angular.z = 0 ;
        vel_pub.publish(msg);
}

void turn(double val)
{
    geometry_msgs::Twist msg;
            msg.linear.x = 0.0;
            msg.linear.y =  0.0 ;
            msg.linear.z =  0.0;
            msg.angular.x = 0.0 ;
            msg.angular.y = 0.0 ;
            msg.angular.z = val ;
        vel_pub.publish(msg);
}

  private:
  // ROS
  ros::NodeHandle n;
  ros::Publisher vel_pub ;
 } ;


int main(int argc, char **argv)
{

// ROS node
std:: cout << " MAIN " << std::endl ;
ros::init(argc, argv, "move_robot");
ros::NodeHandle n;
ros::NodeHandle n_priv("~");
ros::Rate loop_rate(50);

// create an object
test_pf move_robot_obj(n);



while(ros::ok())
{
    move_robot_obj.move(1.0);
    loop_rate.sleep();
    move_robot_obj.turn(4.0);
    loop_rate.sleep();
    move_robot_obj.move(1.0);
    loop_rate.sleep();
    move_robot_obj.turn(-4.0);
    loop_rate.sleep();
    }
  return 0;
 }