text: import roslib
  roslib.load_manifest("sensor_msgs")
  
  from sensor_msgs.msg import Illuminance
  from nuclear_radiation_sensor.middleware.ros.publisher_base import \
      ROSPublisherBase
  
  
  class RadiationPublisher(ROSPublisherBase):
      """ ROS publisher for the nuclear radiation sensor, publishing the radiation
          using an Illuminance message (sensor_msgs/Illuminance.msg).
      """
      ros_class = Illuminance
  
      def default(self, ci):
          """Publishes an Illuminance message containing the current dose rate and
          the variance (if a Gaussian noise modifier is applied.
          """
          msg = Illuminance()
          msg.header = self.get_ros_header()
          msg.illuminance = self.data["dose_rate"]
          msg.variance = self.get_variance(ci, "dose_rate")
  
          self.publish(msg)
  