advanced_publish.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 ## talker demo that published std_msgs/ColorRGBA messages
00037 ## to the 'color' topic. To see these messages, type:
00038 ##   rostopic echo color
00039 ## this demo shows some of the more advanced APIs in rospy.
00040 
00041 import rospy
00042 from std_msgs.msg import ColorRGBA
00043 
00044 def talker():
00045     topic = 'color'
00046     pub = rospy.Publisher(topic, ColorRGBA, queue_size=10)
00047     rospy.init_node('color_talker', anonymous=True)
00048     print "\n\nNode running. To see messages, please type\n\t'rostopic echo %s'\nIn another window\n\n"%(rospy.resolve_name(topic))
00049     while not rospy.is_shutdown():
00050 
00051         # publish with in-order initialization of arguments (r, g, b, a)
00052         pub.publish(1, 2, 3, 4)
00053         rospy.sleep(.5)
00054 
00055         # publish with a=1, use default values for rest
00056         pub.publish(a=1.0)
00057         rospy.sleep(.5)
00058 
00059         # print the number of subscribers
00060         rospy.loginfo("I have %s subscribers"%pub.get_num_connections())
00061         
00062 if __name__ == '__main__':
00063     try:
00064         talker()
00065     except rospy.ROSInterruptException: pass


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