talker.py 文件源码

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()

#    rate = rospy.Rate(10)
#    hello_str = "hello world"
 #   rospy.loginfo(hello_str)
 #   pub.publish(hello_str)
 #   rospy.spin()
 #   exit(0)