01_publisher_and_subscriber.py

'''
Description: 官网https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html
Author: HCQ
Company(School): UCAS
Email: 1756260160@qq.com
Date: 2022-07-25 14:20:39
LastEditTime: 2022-07-25 14:25:48
FilePath: /ros2_python/tutorials/01_publisher_and_subscriber.py
'''

import rclpy
from rclpy.node import Node

from std_msgs.msg import String


class MinimalPublisher(Node):

    def __init__(self):
        super().__init__('minimal_publisher')
        self.publisher_ = self.create_publisher(String, 'topic', 10)
        timer_period = 0.5  # seconds
        self.timer = self.create_timer(timer_period, self.timer_callback)
        self.i = 0

    def timer_callback(self):
        msg = String()
        msg.data = 'Hello World: %d' % self.i
        self.publisher_.publish(msg)
        self.get_logger().info('Publishing: "%s"' % msg.data)
        self.i += 1


def main(args=None):
    rclpy.init(args=args)

    minimal_publisher = MinimalPublisher()

    rclpy.spin(minimal_publisher)

    # Destroy the node explicitly
    # (optional - otherwise it will be done automatically
    # when the garbage collector destroys the node object)
    minimal_publisher.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()