编写一个发布器和接收器（python）

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#!/usr/bin/env python
import rospy
from std_msgs.msg   import String

def talker():
        rospy.init_node('talker',anonymous=True)

        pub = rospy.Publisher('chatter', String, queue_size=10)

        rate = rospy.Rate(10)

        while not rospy.is_shutdown():
                hello_str ="hello world %s"  %  rospy.get_time()

                rospy.loginfo(hello_str)

                pub.publish(hello_str)

                rate.sleep()

if __name__ ==  '__main__ ':
        try:
            talker()
        except    rospy.ROSInterruptException:
            pass