catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

<node pkg="xsens_drive" name="mtnode" type="mtnode.py" output="screen">
</node>

cd ..

catkin_make

. devel/setup.bash

roscd beginner_tutorials/

mkdir scripts

cd scripts

#!/usr/bin/env python

# license removed for brevity

import rospy

from std_msgs.msg import String

def talker():

     pub = rospy.Publisher('chatter', String, queue_size=)

     rospy.init_node('talker', anonymous=True)

     rate = rospy.Rate() # 10hz

     while not rospy.is_shutdown():

         hello_str = "hello world %s" % rospy.get_time()

         rospy.loginfo(hello_str)

         pub.publish(hello_str)

         rate.sleep()

 if __name__ == '__main__':

     try:

         talker()

     except rospy.ROSInterruptException:

         pass！

#!/usr/bin/env python

 import rospy

 from std_msgs.msg import String

 def callback(data):

     rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)

 def listener():

     # In ROS, nodes are uniquely named. If two nodes with the same

     # node are launched, the previous one is kicked off. The

     # anonymous=True flag means that rospy will choose a unique

     # name for our 'listener' node so that multiple listeners can

     # run simultaneously.

     rospy.init_node('listener', anonymous=True)

     rospy.Subscriber("chatter", String, callback)

     # spin() simply keeps python from exiting until this node is stopped

     rospy.spin()

 if __name__ == '__main__':

     listener()

cmake_minimum_required(VERSION 2.8.)

project(beginner_tutorials)

## Find catkin macros and libraries

## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

## is used, also find other catkin packages

find_package(catkin REQUIRED COMPONENTS

  roscpp

  rospy

  std_msgs

)

catkin_package()

roscore

rosrun beginner_tutorials talker.py

rosrun beginner_tutorials listener.py