経緯

キーボード押したときに気軽に何かTopic出したくなりました。
他に方法あると思いますので見つけたら追記します。

コード


import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped


class WaypointsPubTest(Node): 
    def __init__(self):
        super().__init__('waypoints_pub_test') 
        self.pose_pub = self.create_publisher(PoseStamped,'goal_pose',10)
        timer_period = 0.01
        self.timer = self.create_timer(timer_period, self.timer_callback)
            
    def timer_callback(self): 
        key = input("f:publish topic <<")
        print("key=", key)
           
        if key == 'f':
            goal_pose = PoseStamped()
            goal_pose.header.frame_id = 'map'
            goal_pose.header.stamp = rospy.get_time()
            goal_pose.pose.position.x = -3.0
            goal_pose.pose.position.y = 0.0
            goal_pose.pose.position.z = 0.0
            goal_pose.pose.orientation.x = 0.0
            goal_pose.pose.orientation.y = 0.0
            goal_pose.pose.orientation.z = 0.0
            goal_pose.pose.orientation.w = 1.0
            
            print("Pressed f")
            self.pose_pub.publish(goal_pose)

def main(args=None):
    rclpy.init(args=args)
    waypoints_pub_test = WaypointsPubTest()
    rclpy.spin(waypoints_pub_test)
    rclpy.shutdown()

if __name__ == '__main__':
    main()

その他

パッケージとして作ってもいいかもしれません。
$ ros2 pkg create --build-type ament_python --node-name waypoints_pub_test waypoints_pub_test_node

実行
ros2 run waypoints_pub_test waypoints_pub_test_node

参考