ROS2中节点要求为1HZ的频率发布名为counter_info的topic的python文件怎么写

在Robot Operating System (ROS) 2中，如果你需要创建一个节点，每秒（1Hz）发布一个名为`counter_info`的Topic，你可以使用Python编写。首先，你需要安装ros2的Python库，然后使用`rclpy`库来创建节点并处理消息发布。这里是一个简单的示例：

import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile, qos_profile_sensor_data

# 创建一个QoS Profile，用于设置消息发布频率
qos = QoSProfile(depth=10, # 设置队列深度，允许消息堆积
                 durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL,
                 reliability=rclpy.qos.ReliabilityPolicy.RELIABLE)

class CounterNode(Node):
    def __init__(self):
        super().__init__('counter_node')
        self.counter_pub = self.create_publisher('std_msgs/msg/Int32', 'counter_info', qos)

    def timer_callback(self):
        msg = Int32()
        msg.data = self.get_clock().now().nanoseconds  # 使用当前时间作为计数值
        self.counter_pub.publish(msg)
        self.get_logger().info(f"Published counter: {msg.data}")

    def setup_timer(self):
        self.timer = self.create_timer(1.0, self.timer_callback)  # 每隔1秒触发回调函数

def main(args=None):
    rclpy.init(args=args)
    
    node = CounterNode()

    try:
        node.setup_timer()  # 初始化定时器
        rclpy.spin(node)  # 开始轮询事件循环
    except KeyboardInterrupt:
        pass
    finally:
        node.destroy_node()  # 关闭节点资源
        rclpy.shutdown()