ROS Topic Publisher

• 01_01_ros_topic_publisher.ipynb

• Running the cell code

  Ctrl + Enter

import rospy
from std_msgs.msg import String

• Importing rospy modules

• Importing String from std_msgs.msg module

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        rate.sleep()

• Create talker() function

• Create talker nodes and chatter topics

• Publish “hello world” + ROS Timestamp Message

try:
    talker()
except rospy.ROSInterruptException:
    pass

• Executing the talker() function and handling exceptions