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()