ros beginner tutorial python publisher

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