在main函数中，初始化了ROS节点，并创建了一个rospy.Publisher对象nmea_pub，用于发布NavSatFix类型的消息。

1：发布话题Python1.初始化ROS节点：命名（唯一）rospy.init_node("名字")2.创建发布者pub=rospy.Publisher("发布的话题名",发布的话题的消息类型,队列长度

importserial#importcrcmodimportthreadingimportrospyfromstd_msgs.msgimportInt32importbinasciiimporttime#pub=rospy.Publisher

/bin/envpython2#licenseremovedforbrevity3importrospy4fromstd_msgs.msgimportString56deftalker():7pub=rospy.Publisher

节点名字")举例：rospy.init_node(“test”,anonymous=True)anonymous=True，表示后面定义相同的node名字时候，按照序号进行排列.2、定义一个发布者pub=rospy.Publisher

就是可以不用改源程序，通过在话题的发布中改变一些参数的值，然后用subscriber接收使用格式：rostopicpub+话题名+话题类型+需要改的参数以及值1.话题名：粗俗一点讲，就是看源程序里面例如：pub=rospy.Publisher

3,640)#weightcap.set(4,480)#heightret,frame=cap.read()#frame=cv2.flip(frame,0)##图像上下颠倒发布图片image_pub=rospy.Publisher

/usr/bin/envpython#licenseremovedforbrevityimportrospyfromstd_msgs.msgimportStringdeftalker():pub=rospy.Publisher

envpythonimportrospyfromgeometry_msgs.msgimportTwistimporttimeclassMoveBB8():def__init__(self):self.bb8_vel_publisher=rospy.Publisher

/usr/bin/envpythonimportrospyfromgeometry_msgs.msgimportTwistcmd_vel_pub=rospy.Publisher('cm

bin/envpython2.7#-*-coding:utf-8-*-importrospyfromhdw_driver.msgimportupdate_file_msgdeftalker():pub=rospy.Publisher

ROS进二阶学习笔记（10）--rospy.Publisher()之queue_sizereflink===============queue_size:publish()behaviorandqueuingpublish

/usr/bin/envpythonimportrospyfromgeometry_msgs.msgimportTwistfrommathimportpidefpublisher():pub=rospy.Publisher

/bin/envpython2#licenseremovedforbrevity3importrospy4fromstd_msgs.msgimportString56deftalker():7pub=rospy.Publisher

/usr/bin/envpython#调用的是python2.7编译器importrospyfromstd_msgs.msgimportStringdeftalker():pub=rospy.Publisher