[ros-users] [Discourse.ros.org] How to shutdown and reinitialize a publisher node in ROS 2

[William Woodall]

Just for fun I did this last iteration in Python a well, which works:

```python
import sys

import rclpy
from rclpy.node import Node

from std_msgs.msg import String


def main():
    msg = String()
    i = 0

    while True:
        rclpy.init()

        node = Node('talker')
        pub = node.create_publisher(String, 'chatter')
        msg.data = 'Hello World: {0}'.format(i)
        i += 1
        node.get_logger().info('Publishing: "{0}"'.format(msg.data))
        pub.publish(msg)

        node.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()
```





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