publish_on_shutdown.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 def talker():
00049     global pub
00050     pub = rospy.Publisher('chatter', String)
00051     rospy.init_node('talker', anonymous=True)
00052 
00053     # register talker_shutdown() to be called when rospy exits
00054     rospy.on_shutdown(talker_shutdown)
00055     print "Hit ctrl-C to see on_shutdown example"
00056 
00057     # spin() blocks until the node shuts down
00058     rospy.spin()
00059         
00060 if __name__ == '__main__':
00061     talker()


rospy_tutorials
Author(s): Ken Conley
autogenerated on Fri Aug 28 2015 12:38:27