Example-minimal-pubsub-using-rclpy

Introduction

Examples of minimal publisher/subscriber using rclpy.

In this example a talker sends the time in microseconds to the listener. This will compute the time difference between sending and receiving the message.

Deployment

ros2 must be installed in order to run the program.
Inside the folder run

source /opt/ros/foxy/setup.bash
colcon build
source/install/local_setup.bash

Finally run the listener node

ros2 run py_subpub listener

Do the same in another shell for the talker node.