controller.py

#!/usr/bin/env python

import rospy
from std_msgs.msg import String

def controller():
	pub = rospy.Publisher('motion_control', String, queue_size=10)
	rospy.init_node('controller')
	rate = rospy.Rate(10) #10Hz
	while not rospy.is_shutdown():
		data = raw_input("Command: ")
		#print(data)
		#hello_str = "Hello world"
		rospy.loginfo(data)
		pub.publish(data)
		rate.sleep()

if __name__ == '__main__':
	try:
		controller()
	except rospy.ROSInterruptException:
		pass