mqtt-ros模拟发布一个自定义消息类型

#!/usr/bin/env python3
#coding = 'utf-8'

import rospy
import datetime
import time
from ros_mqtt_communication.msg import data

def velocity_publisher():
    # ROS节点初始化
    rospy.init_node('data_publisher', anonymous=True)

    # 创建一个Publisher，发布名为/data_info的topic，消息类型为learning_topic::data，队列长度10
    data_info_pub = rospy.Publisher('/data_info', data, queue_size=10)

    #设置循环的频率
    rate = rospy.Rate(1) 

    while not rospy.is_shutdown():
        # 初始化learning_topic::data类型的消息
        data_msg = data()
        data_msg.time= time.strftime('%Y-%m-%d %H:%M:%S', time.localtime())
        data_msg.location = 1;
        data_msg.cage  = 1;
        data_msg.broiler_state= 1;
        data_msg.number = 1;


        # 发布消息
        data_info_pub.publish(data_msg)
        rospy.loginfo("Publsh data message[%s]",
                data_msg)

        # 按照循环频率延时
        rate.sleep()

if __name__ == '__main__':
    try:
        velocity_publisher()
    except rospy.ROSInterruptException:
        pass

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