Motor Drive Control on RPi4B using ROS2 Topic

my_pub_motor344.py : 

# !/usr/bin/env/ python3 import rclpy from rclpy.node import Node from rclpy.qos import QoSProfile from std_msgs.msg import Int32 import time class PubMotor344(Node):     def __init__(self):         super().__init__('pub_node_motor344')         qos_profile = QoSProfile(depth=10) # queue_size = 10         self._publisher = self.create_publisher(Int32, 'topic_motor344', qos_profile)             msg = Int32()         msg.data = 5         self._publisher.publish(msg)         now = time.localtime()         datetime_pub = time.strftime('%c', now)         self.get_logger().info(f'message {msg.data} is published at {datetime_pub}')         def main(args=None):     rclpy.init(args=args)     pub_motor344 = PubMotor344()          try:         rclpy.spin_once(pub_motor344)     except KeyboardInterrupt:         pub_motor344.get_logger().info('keyboard Interrupt')     finally:                 pub_motor344.destroy_node()         rclpy.shutdown() if __name__ == '__main__':     main()

my_sub_motor344.py :

# !/usr/bin/env/ python3 import rclpy from rclpy.node import Node from rclpy.qos import QoSProfile from std_msgs.msg import Int32 import time class PubMotor344(Node):     def __init__(self):         super().__init__('pub_node_motor344')         qos_profile = QoSProfile(depth=10) # queue_size = 10         self._publisher = self.create_publisher(Int32, 'topic_motor344', qos_profile)             msg = Int32()         msg.data = 5         self._publisher.publish(msg)         now = time.localtime()         datetime_pub = time.strftime('%c', now)         self.get_logger().info(f'message {msg.data} is published at {datetime_pub}')         def main(args=None):     rclpy.init(args=args)     pub_motor344 = PubMotor344()          try:         rclpy.spin_once(pub_motor344)     except KeyboardInterrupt:         pub_motor344.get_logger().info('keyboard Interrupt')     finally:                 pub_motor344.destroy_node()         rclpy.shutdown() if __name__ == '__main__':     main()

 

[Reference]

[1] https://github.com/ros/std_msgs