Robot/ROS
[simulator] 범용적인 publisher 코드 짜기
by 9루트
2022. 3. 2.
#!/usr/bin/env python
#-*- coding:utf-8 -*-
import rospy
from geometry_msgs.msg import Twist
NODE_NAME = "publisher_tester"
TOPIC_NAME = "cmd_vel"
MSG_TYPE = Twist
PUBLISH_HZ = 10.0
class Topic_publisher():
def __init__(self):
rospy.init_node(NODE_NAME)
self.publisher1 = rospy.Publisher(TOPIC_NAME, MSG_TYPE, queue_size=1)
rospy.Timer(rospy.Duration(1.0/PUBLISH_HZ), self.timer_CB)
rospy.spin()
def timer_CB(self, event):
print("work")
if __name__=="__main__":
Topic_publisher()
