talker.py

import socket
import sys
import json
from random import randrange
from time import time, sleep

from types import SimpleNamespace


import rclpy
import random
from rclpy.node import Node

from std_msgs.msg import String

msg_to_send = ""


class MinimalPublisher(Node):

    def __init__(self):
        super().__init__('minimal_publisher')
        self.publisher_ = self.create_publisher(String, 'topic', 10)
        timer_period = 10  # seconds
        self.timer = self.create_timer(timer_period, self.timer_callback)
        self.i = 0

    def timer_callback(self):
        msg = String()
        msg.data = msg_to_send

        self.publisher_.publish(msg)
        self.get_logger().info('Publishing: "%s"' % msg.data)
        self.i += 1


def main(args=None):

    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    s.bind(("talker", 9999))
    s.listen(2)

    while True:
        conn, addr = s.accept()
        print("Conexão estabelecida com %s" % str(addr))
        received_message = bytes.decode(conn.recv(1024))
        print ("Mensagem recebida:")
        print(received_message)
        global msg_to_send
        msg_to_send = received_message

        #Código ROS
        rclpy.init(args=args)

        minimal_publisher = MinimalPublisher()

        rclpy.spin(minimal_publisher)

        # Destroy the node explicitly
        # (optional - otherwise it will be done automatically
        # when the garbage collector destroys the node object)
        minimal_publisher.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()