ros python publisher

1#!/usr/bin/env python
2# license removed for brevity
3import rospy
4from std_msgs.msg import String
5
6def 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
16if __name__ == '__main__':
17    try:
18        talker()
19    except rospy.ROSInterruptException:
20        pass
21

1#!/usr/bin/env python
2import rospy
3from std_msgs.msg import String
4
5def callback(data):
6    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
7    
8def listener():
9
10    rospy.init_node('listener', anonymous=True)
11
12    rospy.Subscriber("chatter", String, callback)
13
14    rospy.spin()
15
16if __name__ == '__main__':
17    listener()
18