In [9]:

    

# importing the ROS Python API
import rospy

# importing all the message types we are going to use
from std_msgs.msg import String
from geometry_msgs.msg import Pose
from sensor_msgs.msg import LaserScan


    

In [10]:

    

# jupyros is a library solely for use in Jupyter Notebooks, This is used for dedactic purposes only here 
# to illustrate ROS concepts. It's for interactive use only, not in a stand-along program
import jupyros as jr


    

In [11]:

    

# Initialise your node

rospy.init_node('testnode')


    

In [12]:

    

# define you callbacks

def pose_cb(msg):
    print('pose')
    print(msg)
    
def str_cb(msg):
    print(type(msg))
    print(msg)

def scan_cb(msg):
    print('scan')
    print(msg)


    

In [13]:

    

# correct rospy way:

s = rospy.Subscriber('/msg', String, str_cb)
s.unregister()


    

In [14]:

    

#jr.subscribe('/pose_stream', Pose, pose_cb)
jr.subscribe('/msg', String, str_cb)

#jr.subscribe('/scan', LaserScan, scan_cb)


    

    




Removing previous callback, only one redirection possible right now






    






 
 

In [7]:

    

jr.publish('/msg', String)


    

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