rospy基础--订阅与发布

1.按照roswiki上的教程，rospy/Tutorials,我们先把代码粘贴过来运行一下发布者和订阅者的代码

talker代码：

import rospy
from std_msgs.msg import String


def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10)  # 10hz
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        rate.sleep()


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

运行代码会出现标红

[ERROR] [1585751789.057178]: Unable to immediately register with master node [http://localhost:11311]: master may not be running yet. Will keep trying.

熟悉的11311，是提示我们没有开大网管roscore，我们新开个终端roscore一下，程序得以顺利运行