talker.py

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#!/usr/bin/env python
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## Simple talker demo that publishes std_msg/Strings to the 'chatter' topic

PKG = 'test_rospy' # this package name
NAME = 'talker'

import sys
import time

import rospy
from std_msgs.msg import String

def talker():
    # create our publish handle
    pub = rospy.Publisher('chatter', String)

    # in ROS, nodes are unique named. If two nodes with the same
    # node are launched, the previous one is kicked off. The 
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'talker' node so that multiple talkers can
    # run simultaenously.
    rospy.init_node('talker', anonymous=True)

    count = 0
    while not rospy.is_shutdown():
        start = time.time()
        str = "hello world %d"%count
        print(str)
        pub.publish(String(str))
        count += 1
        time.sleep(0.1)
        
if __name__ == '__main__':
    talker()