ROS 2 and rclpy

The Robot Operating System 2 — middleware for nodes, topics, services and actions — with its Python client rclpy.

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import rclpy
from rclpy.node import Node
from std_msgs.msg import String

class Talker(Node):
    def __init__(self):
        super().__init__("talker")
        self.pub = self.create_publisher(String, "chatter", 10)
        self.create_timer(1.0, lambda: self.pub.publish(String(data="hello")))

rclpy.init(); rclpy.spin(Talker())

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