Processing Delay Publisher

• 1_1_처리지연_sender.ipynb

• Running the cell code

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import rospy
from std_msgs.msg import Int32

• Import rospy modules

• Import Int32 from std_msgs.msg module

rospy.init_node('Sender', anonymous=False)
pub = rospy.Publisher('increase_num', Int32, queue_size=1)
rate = rospy.Rate(1000) # Generate a topic by incrementing the number by 1 1000 times per second

• Create Sender Node

• increase_num Topic Publish

• Set it to have a rate of 1000hz (1000 executions per second)

cnt = 1

• set the variable cnt to 1

while not rospy.is_shutdown():
    pub.publish(cnt)
    cnt += 1
    rate.sleep()
rospy.spin()

• Set to publish cnt Message and increase cnt value by 1 when rospy is running