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