ros beginner tutorial python publisher

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12 Sep 2016

1   1 #!/usr/bin/env python
2   2 # license removed for brevity
3   3 import rospy
4   4 from std_msgs.msg import String
5   5 
6   6 def talker():
7   7     pub = rospy.Publisher('chatter', String, queue_size=10)
8   8     rospy.init_node('talker', anonymous=True)
9   9     rate = rospy.Rate(10) # 10hz
10  10     while not rospy.is_shutdown():
11  11         hello_str = "hello world %s" % rospy.get_time()
12  12         rospy.loginfo(hello_str)
13  13         pub.publish(hello_str)
14  14         rate.sleep()
15  15 
16  16 if __name__ == '__main__':
17  17     try:
18  18         talker()
19  19     except rospy.ROSInterruptException:
20  20         pass
21

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