latched_pub.py

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#!/usr/bin/env python
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import unittest
import rospy
import rostest
import sys
from std_msgs.msg import *

class LatchedPub(unittest.TestCase):

  def test_latched_pub(self):
    rospy.init_node('latched_pub')

    # Wait a while before publishing
    rospy.sleep(rospy.Duration.from_sec(5.0))

    pub= rospy.Publisher("chatter", String, latch=True)

    pub.publish(String("hello"))

    rospy.sleep(rospy.Duration.from_sec(5.0))
    

if __name__ == '__main__':
  rostest.rosrun('test_rosbag', 'latched_pub', LatchedPub, sys.argv)