Create talker_drive.py

talker_drive.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+
+import rospy
+from geometry_msgs.msg import Twist
+
+def talker():
+    pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
+    rospy.init_node('talker', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        velocity = Twist()
+        velocity.linear.x = 0.05
+        velocity.angular.z = 0.2
+        pub.publish(velocity)
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass