Jupyter Notebook から rclpy を読み出す実験 その６：timer callback

実際のところ

import rclpy
from rclpy.node import Node
import time

class MyTimerNode(Node):
    def __init__(self):
        super().__init__('my_timer_node')
        self.timer = self.create_timer(1.0, self.timer_callback)  # 1秒ごとにコールバック
        self.count = 0

    def timer_callback(self):
        self.count += 1
        self.get_logger().info(f'Timer called {self.count} times')
>|python|
rclpy.init()
timer_node = MyTimerNode()
rclpy.spin(timer_node)

お片付け

node.destroy_node()
rclpy.shutdown()