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 roslib; roslib.load_manifest('rospy_tutorials')
00040 
00041 import rospy
00042 from std_msgs.msg import String
00043 
00044 pub = None
00045 # publish a message to subscribers when we die
00046 def talker_shutdown():
00047     print "I'm dead!"
00048     pub.publish("I'm dead!")
00049     
00050 def talker():
00051     global pub
00052     pub = rospy.Publisher('chatter', String)
00053     rospy.init_node('talker', anonymous=True)
00054 
00055     # register talker_shutdown() to be called when rospy exits
00056     rospy.on_shutdown(talker_shutdown)
00057     print "Hit ctrl-C to see on_shutdown example"
00058 
00059     # spin() blocks until the node shuts down
00060     rospy.spin()
00061         
00062 if __name__ == '__main__':
00063     talker()


rospy_tutorials
Author(s): Ken Conley
autogenerated on Mon Oct 6 2014 06:54:54