Publisher and Subscriber in one python file

[sua07]

How to create Publisher and Subscriber in one single python file instead of creating two separate files for publisher and subscriber ?

[Voltedge]

Hi @sua07

Try this

• Init node
• create the publisher with the topic you want to publish
• create a variable for this topic example: move = Twist() to cmd_vel topic
• create a subscriber and callback
• create a while and publish with a rate that you want.