GR00T-WholeBodyControl / external_dependencies /unitree_sdk2_python /example /helloworld /publisher.py
| import time | |
| from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize | |
| from user_data import * | |
| if __name__ == "__main__": | |
| ChannelFactoryInitialize() | |
| # Create a publisher to publish the data defined in UserData class | |
| pub = ChannelPublisher("topic", UserData) | |
| pub.Init() | |
| for i in range(30): | |
| # Create a Userdata message | |
| msg = UserData(" ", 0) | |
| msg.string_data = "Hello world" | |
| msg.float_data = time.time() | |
| # Publish message | |
| if pub.Write(msg, 0.5): | |
| print("Publish success. msg:", msg) | |
| else: | |
| print("Waitting for subscriber.") | |
| time.sleep(1) | |
| pub.Close() | |