publish_on_shutdown_test_node.py
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1 #!/usr/bin/env python
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34 # Revision $Id: talker.py 4223 2009-04-16 21:47:54Z jfaustwg $
35 
36 ## Simple talker demo that published std_msgs/Strings messages
37 ## to the 'chatter' topic
38 
39 import rospy
40 from std_msgs.msg import String
41 
42 pub = None
43 # publish a message to subscribers when we die
45  print("I'm dead!")
46  pub.publish("I'm dead!")
47 
48  # need to sleep a bit to ensure that the message is sent
49  # which happens asynchonously
50  import time
51  time.sleep(2.0)
52 
53 def talker():
54  global pub
55  pub = rospy.Publisher('chatter', String, queue_size=10)
56  rospy.init_node('talker', anonymous=True)
57 
58  # register talker_shutdown() to be called when rospy exits
59  rospy.on_shutdown(talker_shutdown)
60 
61  import time
62  time.sleep(2.0)
63 
64  rospy.signal_shutdown('test done')
65 
66 if __name__ == '__main__':
67  talker()
Definition: talker.py:1


rospy_tutorials
Author(s): Ken Conley, Dirk Thomas
autogenerated on Sun Oct 18 2020 13:09:44