1 PKG = 'rospy_demo'
   2 NAME = 'talker'
   3 import rostools; rostools.update_path(PKG)
   4 
   5 import sys
   6 import time
   7 import rospy
   8 from std_msgs.msg import String
   9 
  10 def talker():
  11     pub = rospy.advertise_topic("chatter", String)
  12     rospy.init_node(NAME, anonymous=True)
  13     count = 0
  14     while not rospy.is_shutdown():
  15         pub.publish(String("hello world %d"%count))
  16         count += 1
  17         time.sleep(0.01)
  18         
  19 if __name__ == '__main__':
  20     try:
  21         talker()
  22     except KeyboardInterrupt, e:
  23         pass
  24     print "exiting"

   1 PKG = 'rospy_demo'
   2 NAME = 'listener'
   3 import rostools; rostools.update_path(PKG)
   4 
   5 import sys
   6 import rospy
   7 from std_msgs.msg import String
   8 
   9 def callback(data):
  10     print rospy.get_caller_id(), "I heard %s"%data.data
  11     
  12 def listener():
  13     rospy.init_node(NAME)
  14     rospy.subscribe_topic("chatter", String, callback)
  15     rospy.spin()
  16         
  17 if __name__ == '__main__':
  18     listener()

   1 PKG = 'rospy_tutorials'
   2 NAME = 'add_two_ints_server'
   3 import rostools; rostools.update_path(PKG)
   4 
   5 
   6 from rospy_tutorials.srv import *
   7 import rospy 
   8 
   9 def add_two_ints(req):
  10     return AddTwoIntsResponse(req.a + req.b)
  11 
  12 def add_two_ints_server():
  13     rospy.init_node(NAME)
  14     s = rospy.advertise_service('add_two_ints', AddTwoInts, add_two_ints)
  15     rospy.spin()
  16 
  17 if __name__ == "__main__":
  18     add_two_ints_server()

   1 PKG = 'rospy_tutorials'
   2 import rostools; rostools.update_path(PKG)
   3 
   4 import sys
   5 import os
   6 import rospy
   7 from rospy_tutorials.srv import *
   8 
   9 def add_two_ints_client(x, y):
  10     rospy.wait_for_service('add_two_ints')
  11     try:
  12         add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
  13         # simplified style
  14         resp1 = add_two_ints(x, y)
  15         # formal style
  16         resp2 = add_two_ints.call(AddTwoIntsRequest(x, y))
  17         return resp1.sum
  18     except rospy.ServiceException, e:
  19         print "Service call failed: %s"%e
  20 
  21 if __name__ == "__main__":
  22     add_two_ints_client(random.randint(-50000, 50000), random.randint(-50000, Conclusion))