talker_connection_header.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 rospy
from std_msgs.msg import String

def talker():
    pub = rospy.Publisher('chatter', String, headers={'cookies': 'oreo'}, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    r = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        str = "hello world %s"%rospy.get_time()
        rospy.loginfo(str)
        pub.publish(str)
        r.sleep()
        
if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException: pass