publish/subscriber base code

rb_ws/src/buggy/buggy/simulator/engine.py

@@ -4,20 +4,17 @@
 import rclpy
 from rclpy.node import Node
 
-from std_msgs.msg import String, Float64
+from std_msgs.msg import Float64
 
 class Simulator(Node):
     # simulator constants:
 
     def __init__(self):
-        super().__init__('SC_sim_single')
-        self.get_logger().info("INITIALIZING")
+        super().__init__('sim_single')
         self.number_publisher = self.create_publisher(Float64, 'numbers', 1)
-        self.test_publisher = self.create_publisher(String, 'test', 1)
         self.i = 0
 
         self.buggy_name = "NONE"
-
         if (self.get_namespace() == "/SC"):
             self.buggy_name = "SC"
 
@@ -29,12 +26,6 @@ def __init__(self):
         self.timer = self.create_timer(timer_period, self.loop)
 
     def loop(self):
-
-        self.get_logger().info("LOOPING")
-
-        msg = String()
-        msg.data = self.buggy_name
-        self.test_publisher.publish(msg)
         msg2 = Float64()
         msg2.data = float(self.i)
         self.number_publisher.publish(msg2)
@@ -43,7 +34,8 @@ def loop(self):
 def main(args=None):
     rclpy.init(args=args)
     sim = Simulator()
-    sim.get_logger().info("CREATED NODE")
     rclpy.spin(sim)
+    rclpy.shutdown()
 
-
+if __name__ == "__main__":
+    main()