publish_on_shutdown_test_node.py
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00001 #!/usr/bin/env python
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00034 # Revision $Id: talker.py 4223 2009-04-16 21:47:54Z jfaustwg $
00035 
00036 ## Simple talker demo that published std_msgs/Strings messages
00037 ## to the 'chatter' topic
00038 
00039 import rospy
00040 from std_msgs.msg import String
00041 
00042 pub = None
00043 # publish a message to subscribers when we die
00044 def talker_shutdown():
00045     print("I'm dead!")
00046     pub.publish("I'm dead!")
00047 
00048     # need to sleep a bit to ensure that the message is sent
00049     # which happens asynchonously
00050     import time
00051     time.sleep(2.0)
00052     
00053 def talker():
00054     global pub
00055     pub = rospy.Publisher('chatter', String, queue_size=10)
00056     rospy.init_node('talker', anonymous=True)
00057 
00058     # register talker_shutdown() to be called when rospy exits
00059     rospy.on_shutdown(talker_shutdown)
00060     
00061     import time
00062     time.sleep(2.0)
00063 
00064     rospy.signal_shutdown('test done')
00065         
00066 if __name__ == '__main__':
00067     talker()


rospy_tutorials
Author(s): Ken Conley
autogenerated on Sun Mar 20 2016 04:51:24