example2.py

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#!/usr/bin/env python
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# Revision $Id: talker.py 5263 2009-07-17 23:30:38Z sfkwc $

## Simple talker demo that published std_msgs/Strings messages
## to the 'chatter' topic

import roslib; roslib.load_manifest('app_manager_tutorial')

import rospy
from std_msgs.msg import String
from std_msgs.msg import Int32
from std_msgs.msg import Float32

class Example(object):
    def __init__(self):
        rospy.init_node('example2')
        self.foo = 0.0
        self.bar = 0

        self.sub_foo = rospy.Subscriber('tiger', Float32, self.foo_cb)
        self.pub_baz = rospy.Publisher('lion', String)

        # Internal sub
        self.sub_bar = rospy.Subscriber('bar', Int32, self.bar_cb)


        r = rospy.Rate(10) # 10hz
        while not rospy.is_shutdown():
            s = "%s -- %s"%(self.foo, self.bar)
            self.pub_baz.publish(s)
            r.sleep()

    def foo_cb(self, foo):
        self.foo = foo.data

    def bar_cb(self, bar):
        self.bar = bar.data

        
if __name__ == '__main__':
    try:
        Example()
    except rospy.ROSInterruptException: pass