ANRO summer school

#!/usr/bin/env python

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# Revision $Id$

## Simple talker demo that listens to std_msgs/Strings published 

## to the 'chatter' topic

import rospy

from std_msgs.msg import String

def callback(data):

    rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.data)

def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same

    # name are launched, the previous one is kicked off. The

    # anonymous=True flag means that rospy will choose a unique

    # name for our 'listener' node so that multiple listeners can

    # run simultaneously.

    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber('chatter', String, callback)

    # spin() simply keeps python from exiting until this node is stopped

    rospy.spin()

if __name__ == '__main__':

    listener()