00001 # Taken from http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers 00002 import rospy 00003 from std_msgs.msg import String 00004 00005 pub = rospy.Publisher('spokenwords', String, queue_size=10) 00006 rospy.init_node('node_name') 00007 r = rospy.Rate(10) # 10hz 00008 while not rospy.is_shutdown(): 00009 pub.publish("hello world") 00010 r.sleep()