text: #!/usr/bin/env python
  import rospy
  import random
  import numpy 
  from std_msgs.msg import String
  from AR_week4_test.msg import cubic_traj_params
  
  def talker():
      publisher = rospy.Publisher('chatter', cubic_traj_params, queue_size=10)
      rospy.init_node('talker', anonymous=True)
      rate = rospy.Rate(0.05) 
      numbers = cubic_traj_params()
      while not rospy.is_shutdown():
          numbers.p0 = numpy.random.uniform(-10,10)
  	numbers.pf = numpy.random.uniform(-10,10)
  	numbers.v0 = numpy.random.uniform(-10,10)
  	numbers.vf = numpy.random.uniform(-10,10)
  	numbers.t0 = 0 
          dt = numpy.random.uniform(5,10)
  	numbers.tf = numbers.t0 + dt
  	rospy.loginfo(numbers)
  	publisher.publish(numbers)
          rate.sleep()
  
  if __name__ == '__main__':
      try:
          talker()
      except rospy.ROSInterruptException:
          pass
  