ROS Node

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cd ~/my_ws/src
catkin_create_pkg my_package rospy
cd my_package
mkdir launch
cd src
vim simple.py
    

In src folder, create the python script simple.py,

#! /usr/bin/env python

import rospy

rospy.init_node('ObiWan')
print("Help me Obi-Wan Kenobi, you're my only hope")

'''loops
rate = rospy.Rate(2)               # We create a Rate object of 2Hz
while not rospy.is_shutdown():     # Endless loop until Ctrl + C
   print("Help me Obi-Wan Kenobi, you're my only hope")
   rate.sleep()                    # We sleep the needed time to maintain the Rate fixed above
    
'''

    

Allow execution permission,

chmod +x simple.py
    

In launch folder, create my_package_launch_file.launch,

<launch>
    <!-- My Package launch file -->
    <node pkg="my_package" type="simple.py" name="ObiWan"  output="screen">
    </node>
</launch>
    

Then run by,

roscore # T1
roslaunch my_package my_package_launch_file.launch # T2
# or 
# rosrun my_package simple.py
    

References

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