Ros2

import rclpy
from rclpy.node import Node
from std_msgs.msg import String

class MinimalPublisher(Node):
    def __init__(self):
        super().__init__("minimal_publisher")
        self.publisher = self.create_publisher(String, "robot_status", 10)
        self.timer = self.create_timer(0.5, self.timer_callback)
        self.count = 0

    def timer_callback(self):
        msg = String()
        msg.data = f"Robot status update #{self.count}"
        self.publisher.publish(msg)
        self.get_logger().info(f"Publishing: {msg.data}")
        self.count += 1

def main():
    rclpy.init()
    publisher = MinimalPublisher()
    rclpy.spin(publisher)
    publisher.destroy_node()
    rclpy.shutdown()

if __name__ == "__main__":
    main()