text: 
  #include "ros/ros.h"
  #include "std_msgs/String.h"
  // %EndTag(MSG_HEADER)%
  
  #include <sstream>
  
  int main(int argc, char **argv)
  {
    ros::init(argc, argv, "talker");
    ros::NodeHandle n;
  
    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
  
    ros::Rate loop_rate(10);
  
    int count = 0;
    while (ros::ok())
    {
  
      std_msgs::String msg;
  
      std::stringstream ss;
      ss << "hello world " << count;
      msg.data = ss.str();
  
      ROS_INFO("%s", msg.data.c_str());
  
      chatter_pub.publish(msg);
  
      ros::spinOnce();
  
      loop_rate.sleep();
      
      ++count;
    }
  
  
    return 0;
  }
  // %EndTag(FULLTEXT)%
  