{"id":2262,"date":"2025-07-04T10:00:00","date_gmt":"2025-07-04T10:00:00","guid":{"rendered":"https:\/\/learnbydoing.dev\/?p=2262"},"modified":"2026-01-10T22:32:19","modified_gmt":"2026-01-10T22:32:19","slug":"how-to-create-a-simple-publisher-node-with-python-ros2","status":"publish","type":"post","link":"https:\/\/learnbydoing.dev\/how-to-create-a-simple-publisher-node-with-python-ros2\/","title":{"rendered":"How to create a simple Publisher Node with Python &#8211; ROS2"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"2262\" class=\"elementor elementor-2262\" data-elementor-post-type=\"post\">\n\t\t\t\t<div class=\"elementor-element elementor-element-e28ab35 e-flex e-con-boxed e-con e-parent\" data-id=\"e28ab35\" data-element_type=\"container\" data-e-type=\"container\" id=\"content\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-62ab6e3 e-con-full e-flex e-con e-child\" data-id=\"62ab6e3\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-62ab203 elementor-align-center elementor-widget elementor-widget-post-info\" data-id=\"62ab203\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"post-info.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul class=\"elementor-inline-items elementor-icon-list-items elementor-post-info\">\n\t\t\t\t\t\t\t\t<li class=\"elementor-icon-list-item elementor-repeater-item-2c98363 elementor-inline-item\" itemprop=\"about\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-text elementor-post-info__item elementor-post-info__item--type-terms\">\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-post-info__terms-list\">\n\t\t\t\t<span class=\"elementor-post-info__terms-list-item\">Linux<\/span>, <span class=\"elementor-post-info__terms-list-item\">ROS 2<\/span>, <span class=\"elementor-post-info__terms-list-item\">Tutorials<\/span>\t\t\t\t<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t<\/ul>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-0650e10 e-con-full e-flex e-con e-child\" data-id=\"0650e10\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-ac19582 elementor-view-default elementor-widget elementor-widget-icon\" data-id=\"ac19582\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"icon.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-icon-wrapper\">\n\t\t\t<div class=\"elementor-icon\">\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"75\" height=\"75\" viewBox=\"0 0 75 75\" fill=\"none\"><path d=\"M74.9999 75H13.1889V73.0002H71.5859L0.460938 1.87521L1.87515 0.460999L73.0001 71.586V13.1889H74.9999V75Z\" fill=\"white\"><\/path><\/svg>\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-47aa245d e-flex e-con-boxed e-con e-parent\" data-id=\"47aa245d\" data-element_type=\"container\" data-e-type=\"container\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-206a001 elementor-widget elementor-widget-image\" data-id=\"206a001\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"1920\" height=\"1080\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Node-c-_3_.webp\" class=\"attachment-full size-full wp-image-2270\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Node-c-_3_.webp 1920w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Node-c-_3_-300x169.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Node-c-_3_-1024x576.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Node-c-_3_-768x432.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Node-c-_3_-1536x864.webp 1536w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Node-c-_3_-18x10.webp 18w\" sizes=\"(max-width: 1920px) 100vw, 1920px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4bc31ca3 elementor-widget elementor-widget-text-editor\" data-id=\"4bc31ca3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-start=\"252\" data-end=\"397\">In this guide, we&#8217;ll build a <strong data-start=\"281\" data-end=\"328\">simple publisher node using Python in ROS2<\/strong>.<br data-start=\"329\" data-end=\"332\" \/>The node will periodically publish a string message on a topic.<\/p><p data-start=\"399\" data-end=\"500\">We\u2019ll explain every step clearly and line-by-line, so even if you\u2019re new to ROS you can follow along.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-12a4ca0 elementor-widget elementor-widget-text-editor\" data-id=\"12a4ca0\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1857\" data-end=\"1885\">\ud83d\udd0d\u00a0 What is a ROS Node and a Topic?<\/h3><p data-start=\"631\" data-end=\"857\">In <strong data-start=\"634\" data-end=\"666\">ROS (Robot Operating System)<\/strong>, software is organized into small, independent processes called <strong data-start=\"731\" data-end=\"740\">nodes<\/strong>.<br data-start=\"741\" data-end=\"744\" \/>Nodes communicate by publishing and subscribing to <strong data-start=\"795\" data-end=\"805\">topics<\/strong> \u2014 named channels that carry specific types of data.<\/p><p data-start=\"859\" data-end=\"871\">For example:<\/p><ul data-start=\"872\" data-end=\"1012\"><li data-start=\"872\" data-end=\"931\"><p data-start=\"874\" data-end=\"931\">A camera node might publish images on <code data-start=\"912\" data-end=\"931\">\/camera\/image_raw<\/code><\/p><\/li><li data-start=\"932\" data-end=\"1012\"><p data-start=\"934\" data-end=\"1012\">A motor controller might subscribe to <code data-start=\"972\" data-end=\"982\">\/cmd_vel<\/code> to receive movement commands.<\/p><\/li><\/ul><p data-start=\"1014\" data-end=\"1155\"><strong data-start=\"1014\" data-end=\"1057\">Nodes and topics decouple your software<\/strong>, so different parts of your robot can evolve independently and work together via message passing.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c983314 elementor-widget elementor-widget-text-editor\" data-id=\"c983314\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1857\" data-end=\"1885\">\ud83d\ude80 What We&#8217;ll Build<\/h3><p data-start=\"1186\" data-end=\"1192\">We\u2019ll:<\/p><ul data-start=\"1193\" data-end=\"1351\"><li data-start=\"1193\" data-end=\"1252\"><p data-start=\"1195\" data-end=\"1252\">Create a new Python package inside an existing ROS2 workspace<\/p><\/li><li data-start=\"1253\" data-end=\"1284\"><p data-start=\"1255\" data-end=\"1284\">Write a publisher node in Python<\/p><\/li><li data-start=\"1285\" data-end=\"1303\"><p data-start=\"1287\" data-end=\"1303\">Build and run it<\/p><\/li><li data-start=\"1304\" data-end=\"1351\"><p data-start=\"1306\" data-end=\"1351\">Monitor its output via ROS2 command-line tools<\/p><\/li><\/ul><p data-start=\"1353\" data-end=\"1367\">The node will:<\/p><ul data-start=\"1368\" data-end=\"1503\"><li data-start=\"1368\" data-end=\"1422\"><p data-start=\"1370\" data-end=\"1422\">Publish a string message on a topic named <code data-start=\"1412\" data-end=\"1422\">\/chatter<\/code><\/p><\/li><li data-start=\"1423\" data-end=\"1459\"><p data-start=\"1425\" data-end=\"1459\">Run in a loop at a fixed frequency<\/p><\/li><li data-start=\"1460\" data-end=\"1503\"><p data-start=\"1462\" data-end=\"1503\">Display a counter alongside the message<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-821f703 elementor-widget elementor-widget-image\" data-id=\"821f703\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"1920\" height=\"1080\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Node-c-2.gif\" class=\"attachment-full size-full wp-image-2257\" alt=\"\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-324d52d elementor-widget elementor-widget-text-editor\" data-id=\"324d52d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1857\" data-end=\"1885\">\ud83d\udce6 Prerequisite: A ROS2 Workspace<\/h3><p data-start=\"1547\" data-end=\"1722\">If you haven\u2019t created a ROS2 workspace yet, follow this clear tutorial first:<br data-start=\"1624\" data-end=\"1627\" \/><a class=\"\" href=\"https:\/\/learnbydoing.dev\/how-to-create-a-ros2-workspace\/\" target=\"_new\" rel=\"noopener\" data-start=\"1630\" data-end=\"1720\">How to Create a ROS2 Workspace<\/a><\/p><p data-start=\"1724\" data-end=\"1785\">Once your workspace is ready and sourced, continue from here.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e1ef5c9 elementor-widget elementor-widget-text-editor\" data-id=\"e1ef5c9\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"1792\" data-end=\"1824\">\ud83d\udce6 Create a New Package<\/h2><p data-start=\"1826\" data-end=\"1863\">First, make sure your ROS 2 workspace exists and is sourced:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1ba2cef elementor-widget elementor-widget-code-highlight\" data-id=\"1ba2cef\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>source \/opt\/ros\/jazzy\/setup.bash\r\ncd ~\/ros2_ws\/src\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7a888ec elementor-widget elementor-widget-text-editor\" data-id=\"7a888ec\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-start=\"1172\" data-end=\"1220\">Now create a new Python package:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-26a4750 elementor-widget elementor-widget-code-highlight\" data-id=\"26a4750\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>ros2 pkg create --build-type ament_python py_talker\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-455a2f8 elementor-widget elementor-widget-text-editor\" data-id=\"455a2f8\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"2302\" data-end=\"2336\">\ud83d\udcc4 Write the Publisher Node<\/h2><p data-start=\"2338\" data-end=\"2380\">Go to your package\u2019s Python module folder:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-01f8801 elementor-widget elementor-widget-code-highlight\" data-id=\"01f8801\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>cd py_talker\/py_talker\r\ntouch simple_publisher.py\r\nchmod +x simple_publisher.py\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8141c6a elementor-widget elementor-widget-text-editor\" data-id=\"8141c6a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Now open <code data-start=\"2389\" data-end=\"2410\">simple_publisher.py<\/code> and insert this code:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6503883 elementor-widget elementor-widget-code-highlight\" data-id=\"6503883\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>#!\/usr\/bin\/env python3\r\n\r\nimport rclpy\r\nfrom rclpy.node import Node\r\nfrom std_msgs.msg import String\r\n\r\nclass SimplePublisher(Node):\r\n    def __init__(self):\r\n        super().__init__('simple_publisher')\r\n        self.publisher_ = self.create_publisher(String, 'chatter', 10)\r\n        timer_period = 0.5  # seconds\r\n        self.timer = self.create_timer(timer_period, self.timer_callback)\r\n        self.counter = 0\r\n\r\n    def timer_callback(self):\r\n        msg = String()\r\n        msg.data = f'Hello ROS2 Jazzy: {self.counter}'\r\n        self.publisher_.publish(msg)\r\n        self.get_logger().info(f'Publishing: \"{msg.data}\"')\r\n        self.counter += 1\r\n\r\ndef main(args=None):\r\n    rclpy.init(args=args)\r\n    simple_publisher = SimplePublisher()\r\n    rclpy.spin(simple_publisher)\r\n    simple_publisher.destroy_node()\r\n    rclpy.shutdown()\r\n\r\nif __name__ == '__main__':\r\n    main()\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2547d99 elementor-widget elementor-widget-text-editor\" data-id=\"2547d99\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"3173\" data-end=\"3210\">\ud83d\udd0d Code Explained Step by Step<\/h2><p data-start=\"3212\" data-end=\"3262\">Let\u2019s carefully go through this code line by line.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7715a7b elementor-widget elementor-widget-text-editor\" data-id=\"7715a7b\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Imports<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-85beade elementor-widget elementor-widget-code-highlight\" data-id=\"85beade\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>import rclpy\r\nfrom rclpy.node import Node\r\nfrom std_msgs.msg import String\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8c151f2 elementor-widget elementor-widget-text-editor\" data-id=\"8c151f2\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<ul><li data-start=\"3450\" data-end=\"3499\"><p data-start=\"3452\" data-end=\"3499\"><code data-start=\"3452\" data-end=\"3459\">rclpy<\/code> is the Python client library for ROS 2.<\/p><\/li><li data-start=\"3500\" data-end=\"3557\"><p data-start=\"3502\" data-end=\"3557\"><code data-start=\"3502\" data-end=\"3508\">Node<\/code> is the base class to create your own ROS 2 node.<\/p><\/li><li data-start=\"3558\" data-end=\"3612\"><p data-start=\"3560\" data-end=\"3612\"><code data-start=\"3560\" data-end=\"3568\">String<\/code> is the standard message type we\u2019ll publish.<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-21e3fca elementor-widget elementor-widget-text-editor\" data-id=\"21e3fca\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Create a Node Class<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b11d22b elementor-widget elementor-widget-code-highlight\" data-id=\"b11d22b\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>class SimplePublisher(Node):\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e7a0dfa elementor-widget elementor-widget-text-editor\" data-id=\"e7a0dfa\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Defines a class inheriting from <code data-start=\"3718\" data-end=\"3724\">Node<\/code>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6ebf0aa elementor-widget elementor-widget-text-editor\" data-id=\"6ebf0aa\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Node Initialization<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-336d61d elementor-widget elementor-widget-code-highlight\" data-id=\"336d61d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>super().__init__('simple_publisher')\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3c9dd89 elementor-widget elementor-widget-text-editor\" data-id=\"3c9dd89\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Calls the base class constructor with the node name <code data-start=\"3859\" data-end=\"3879\">'simple_publisher'<\/code>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5f43eda elementor-widget elementor-widget-text-editor\" data-id=\"5f43eda\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Create the Publisher<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9b94e7a elementor-widget elementor-widget-code-highlight\" data-id=\"9b94e7a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>self.publisher_ = self.create_publisher(String, 'chatter', 10)\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4cc9ac5 elementor-widget elementor-widget-text-editor\" data-id=\"4cc9ac5\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<ul><li data-start=\"3989\" data-end=\"4054\"><p data-start=\"3991\" data-end=\"4054\">Creates a publisher for <code data-start=\"4015\" data-end=\"4023\">String<\/code> messages on topic <code data-start=\"4042\" data-end=\"4053\">'chatter'<\/code>.<\/p><\/li><li data-start=\"4055\" data-end=\"4134\"><p data-start=\"4057\" data-end=\"4134\"><code data-start=\"4057\" data-end=\"4061\">10<\/code> is the queue size (messages buffered if subscribers aren\u2019t fast enough).<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-cc6354b elementor-widget elementor-widget-text-editor\" data-id=\"cc6354b\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Create a Timer<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8fbc45c elementor-widget elementor-widget-code-highlight\" data-id=\"8fbc45c\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>timer_period = 0.5\r\nself.timer = self.create_timer(timer_period, self.timer_callback)\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-02380ed elementor-widget elementor-widget-text-editor\" data-id=\"02380ed\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Sets a timer to call <code data-start=\"4282\" data-end=\"4300\">timer_callback()<\/code> every <code data-start=\"4307\" data-end=\"4312\">0.5<\/code> seconds..<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d30755f elementor-widget elementor-widget-text-editor\" data-id=\"d30755f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Initialize a Counter<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-08c3546 elementor-widget elementor-widget-code-highlight\" data-id=\"08c3546\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>self.counter = 0\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3a4ebcf elementor-widget elementor-widget-text-editor\" data-id=\"3a4ebcf\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Used to number each message.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a0f7488 elementor-widget elementor-widget-text-editor\" data-id=\"a0f7488\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Define the Callback<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4399118 elementor-widget elementor-widget-code-highlight\" data-id=\"4399118\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>def timer_callback(self):\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2fdf11f elementor-widget elementor-widget-text-editor\" data-id=\"2fdf11f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>This function is called every time the timer expires (every 0.5\u202fs).<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f1d792d elementor-widget elementor-widget-text-editor\" data-id=\"f1d792d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Create and Publish a Message<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-451f343 elementor-widget elementor-widget-code-highlight\" data-id=\"451f343\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>msg = String()\r\nmsg.data = f'Hello ROS2 Jazzy: {self.counter}'\r\nself.publisher_.publish(msg)\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4a80a74 elementor-widget elementor-widget-text-editor\" data-id=\"4a80a74\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<ul><li data-start=\"4695\" data-end=\"4725\"><p data-start=\"4697\" data-end=\"4725\">Creates a <code data-start=\"4707\" data-end=\"4715\">String<\/code> message<\/p><\/li><li data-start=\"4726\" data-end=\"4785\"><p data-start=\"4728\" data-end=\"4785\">Sets its <code data-start=\"4737\" data-end=\"4743\">data<\/code> to a text message including the counter<\/p><\/li><li data-start=\"4786\" data-end=\"4824\"><p data-start=\"4788\" data-end=\"4824\">Publishes it on the <code data-start=\"4808\" data-end=\"4818\">\/chatter<\/code> topic<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9b2fa5f elementor-widget elementor-widget-text-editor\" data-id=\"9b2fa5f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Log the Message<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d346d79 elementor-widget elementor-widget-code-highlight\" data-id=\"d346d79\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>self.get_logger().info(f'Publishing: \"{msg.data}\"')\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6774592 elementor-widget elementor-widget-text-editor\" data-id=\"6774592\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Logs to the console whenever a message is sent.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5484acc elementor-widget elementor-widget-text-editor\" data-id=\"5484acc\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Increment Counter<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2704473 elementor-widget elementor-widget-code-highlight\" data-id=\"2704473\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>self.counter += 1\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7f9725c elementor-widget elementor-widget-text-editor\" data-id=\"7f9725c\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Increases message number for next iteration.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a7f85f2 elementor-widget elementor-widget-text-editor\" data-id=\"a7f85f2\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Start the Node<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-badb696 elementor-widget elementor-widget-code-highlight\" data-id=\"badb696\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>def main(args=None):\r\n    rclpy.init(args=args)\r\n    simple_publisher = SimplePublisher()\r\n    rclpy.spin(simple_publisher)\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9670b6a elementor-widget elementor-widget-text-editor\" data-id=\"9670b6a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<ul><li data-start=\"5218\" data-end=\"5239\"><p data-start=\"5220\" data-end=\"5239\">Initializes ROS 2<\/p><\/li><li data-start=\"5240\" data-end=\"5266\"><p data-start=\"5242\" data-end=\"5266\">Instantiates your node<\/p><\/li><li data-start=\"5267\" data-end=\"5337\"><p data-start=\"5269\" data-end=\"5337\"><code data-start=\"5269\" data-end=\"5277\">spin()<\/code> keeps it running, waiting for events (like timer callbacks)<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7dc7092 elementor-widget elementor-widget-text-editor\" data-id=\"7dc7092\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>Clean Shutdown<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9cbb0fb elementor-widget elementor-widget-code-highlight\" data-id=\"9cbb0fb\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>simple_publisher.destroy_node()\r\nrclpy.shutdown()\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-690e2ff elementor-widget elementor-widget-text-editor\" data-id=\"690e2ff\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<ul><li data-start=\"5426\" data-end=\"5452\"><p data-start=\"5428\" data-end=\"5452\">Stops the node cleanly<\/p><\/li><li data-start=\"5453\" data-end=\"5490\"><p data-start=\"5455\" data-end=\"5490\">Shuts down ROS 2 client libraries<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-66e04df elementor-widget elementor-widget-text-editor\" data-id=\"66e04df\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"6581\" data-end=\"6611\">\ud83d\udee0\ufe0f Set up <code data-start=\"5514\" data-end=\"5524\">setup.py<\/code><\/h2><p data-start=\"6613\" data-end=\"6638\">Edit your package\u2019s <code data-start=\"5546\" data-end=\"5556\">setup.py<\/code> and make sure to include<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-aee886c elementor-widget elementor-widget-code-highlight\" data-id=\"aee886c\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>entry_points={\r\n    'console_scripts': [\r\n        'talker = py_talker.simple_publisher:main',\r\n    ],\r\n},\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7e1a6da elementor-widget elementor-widget-text-editor\" data-id=\"7e1a6da\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>This allows you to run the node with <code data-start=\"5738\" data-end=\"5748\">ros2 run<\/code>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-45de7cc elementor-widget elementor-widget-text-editor\" data-id=\"45de7cc\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"6581\" data-end=\"6611\">\ud83d\udee0\ufe0f\u00a0Build and Source the Package<\/h2><p data-start=\"5796\" data-end=\"5844\">Go back to the root of your workspace and build:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2a6c3c3 elementor-widget elementor-widget-code-highlight\" data-id=\"2a6c3c3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>cd ~\/ros2_ws\r\nrosdep install -i --from-path src --rosdistro jazzy -y\r\ncolcon build\r\nsource install\/setup.bash\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2b8e663 elementor-widget elementor-widget-text-editor\" data-id=\"2b8e663\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"6710\" data-end=\"6739\">\ud83d\ude80 Run the Publisher<\/h2><p data-start=\"6741\" data-end=\"6769\">Launch your publisher node:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4acb228 elementor-widget elementor-widget-code-highlight\" data-id=\"4acb228\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>ros2 run py_talker talker\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-34c5f31 elementor-widget elementor-widget-text-editor\" data-id=\"34c5f31\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h2 data-start=\"6920\" data-end=\"6949\">\ud83d\udce1 Monitor the Topic<\/h2><p data-start=\"6951\" data-end=\"6971\">In a new terminal:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-19b67b3 elementor-widget elementor-widget-code-highlight\" data-id=\"19b67b3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>source ~\/ros2_ws\/install\/setup.bash\r\nros2 topic list\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ef2af07 elementor-widget elementor-widget-text-editor\" data-id=\"ef2af07\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>You should see:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0c13629 elementor-widget elementor-widget-code-highlight\" data-id=\"0c13629\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>\/chatter\r\n\/rosout\r\n\/rosout_agg<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-02b7840 elementor-widget elementor-widget-text-editor\" data-id=\"02b7840\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>To view the published messages:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8b4013e elementor-widget elementor-widget-code-highlight\" data-id=\"8b4013e\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>ros2 topic echo \/chatter\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-be53046 elementor-widget elementor-widget-text-editor\" data-id=\"be53046\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>You\u2019ll see:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-643edad elementor-widget elementor-widget-code-highlight\" data-id=\"643edad\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>data: \"Hello world 0\"\r\ndata: \"Hello world 1\"\r\n...\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9f386fb elementor-widget elementor-widget-text-editor\" data-id=\"9f386fb\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Check topic information:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f43d9b7 elementor-widget elementor-widget-code-highlight\" data-id=\"f43d9b7\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>ros2 topic info \/chatter\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b4f0a53 elementor-widget elementor-widget-text-editor\" data-id=\"b4f0a53\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Check message frequency:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-183a2ac elementor-widget elementor-widget-code-highlight\" data-id=\"183a2ac\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>ros2 topic hz \/chatter\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-c5d20e7 e-con-full e-flex e-con e-parent\" data-id=\"c5d20e7\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-0741169 elementor-bg-transform elementor-bg-transform-move-left elementor-cta--layout-image-left elementor-cta--mobile-layout-image-above elementor-cta--skin-classic elementor-animated-content elementor-widget elementor-widget-call-to-action\" data-id=\"0741169\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"call-to-action.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-cta\">\n\t\t\t\t\t<div class=\"elementor-cta__bg-wrapper\">\n\t\t\t\t<div class=\"elementor-cta__bg elementor-bg\" style=\"background-image: url(https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/manipulation-ros2.webp);\" role=\"img\" aria-label=\"manipulation ros2\"><\/div>\n\t\t\t\t<div class=\"elementor-cta__bg-overlay\"><\/div>\n\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-cta__content\">\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<h2 class=\"elementor-cta__title elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tWant to learn more?\t\t\t\t\t<\/h2>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__description elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tYou can find a detailed explaination of the workspace in  the \"Robotics and ROS 2 - Learn by Doing! Manipulators\" course\t\t\t\t\t<\/div>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__button-wrapper elementor-cta__content-item elementor-content-item \">\n\t\t\t\t\t<a class=\"elementor-cta__button elementor-button elementor-size-\" href=\"\" target=\"_blank\">\n\t\t\t\t\t\tEnroll Now\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-ribbon elementor-ribbon-right\">\n\t\t\t\t<div class=\"elementor-ribbon-inner\">\n\t\t\t\t\tDISCOUNT\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-180426a elementor-widget elementor-widget-spacer\" data-id=\"180426a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>In this guide, we&#8217;ll build a simple publisher node using Python in ROS2.The node will periodically publish a string message on a topic. We\u2019ll explain every step clearly and line-by-line, so even if you\u2019re new to ROS you can follow along. \ud83d\udd0d\u00a0 What is a ROS Node and a Topic? In ROS (Robot Operating System), [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":2270,"comment_status":"closed","ping_status":"open","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[47,45,43],"tags":[126,133,66,74,131,132,141,98,100,75,71,107,72,130],"class_list":["post-2262","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-linux","category-ros-2","category-tutorials","tag-base","tag-chatter","tag-learn-by-doing","tag-linux","tag-node","tag-publisher","tag-py","tag-python","tag-robot","tag-robotics","tag-ros","tag-ros-2","tag-ros2","tag-topic"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>How to create a simple Publisher Node with Python - ROS2 - Learn by Doing!<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/learnbydoing.dev\/es\/how-to-create-a-simple-publisher-node-with-python-ros2\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Installing ROS 2 Jazzy on Ubuntu 24.04: Step-by-Step Tutorial\" \/>\n<meta property=\"og:description\" content=\"In this guide, we&#8217;ll build a simple publisher node using Python in ROS2.The node will periodically publish a string message on a topic. We\u2019ll explain every step clearly and line-by-line, so even if you\u2019re new to ROS you can follow along. \ud83d\udd0d\u00a0 What is a ROS Node and a Topic? 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