ROS python 计时10S

以下是使用ROS Python编程实现10秒计时的示例：

import rclpy
from rclpy.node import Node
from std_msgs.msg import String

class TimerNode(Node):
    def __init__(self):
        super().__init__('timer_node')
        self.publisher_ = self.create_publisher(String, 'timer_topic', 10)
        self.timer_ = self.create_timer(1.0, self.timer_callback)
        self.counter_ = 0

    def timer_callback(self):
        msg = String()
        msg.data = 'Timer count: {}'.format(self.counter_)
        self.publisher_.publish(msg)
        self.counter_ += 1
        if self.counter_ > 10:
            self.timer_.cancel()

def main(args=None):
    rclpy.init(args=args)
    node = TimerNode()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

这个示例创建了一个ROS节点，每秒发布一个计数器的值到名为`timer_topic`的话题上。当计数器达到10时，定时器会被取消。你可以根据需要修改发布的消息类型和话题名称。