publish_on_shutdown.py
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00001 #!/usr/bin/env python
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00033 
00034 ## Simple talker demo that published std_msgs/Strings messages
00035 ## to the 'chatter' topic
00036 
00037 import rospy
00038 from std_msgs.msg import String
00039 
00040 pub = None
00041 # publish a message to subscribers when we die
00042 def talker_shutdown():
00043     print("I'm dead!")
00044     pub.publish("I'm dead!")
00045     
00046 def talker():
00047     global pub
00048     pub = rospy.Publisher('chatter', String)
00049     rospy.init_node('talker', anonymous=True)
00050 
00051     # register talker_shutdown() to be called when rospy exits
00052     rospy.on_shutdown(talker_shutdown)
00053     
00054     import time
00055     time.sleep(2.0)
00056 
00057     rospy.signal_shutdown('test done')
00058         
00059 if __name__ == '__main__':
00060     talker()


test_rospy
Author(s): Ken Conley
autogenerated on Thu Jun 6 2019 21:10:57