ミニマルなROSのテスト

talker.py

#!/usr/bin/env python

import rospy
from std_msgs.msg import String

def talker():
  rospy.init_node('talker')
  pub = rospy.Publisher('chatter',String)
  rate = rospy.Rate(5)
  while not rospy.is_shutdown():
    msg = "hello"
    rospy.loginfo(msg)
    pub.publish(msg)
    rate.sleep()

if __name__=="__main__":
  talker()

listener.py

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

def callback(data):
  rospy.loginfo(data.data)

def listener():
  rospy.init_node('listener')
  rospy.Subscriber('chatter',String,callback)
  rospy.spin()

if __name__=="__main__":
  listener()