text: #!/usr/bin/env python
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  # Revision $Id$
  
  # Simple talker demo that published std_msgs/Strings messages to the 'chatter' topic
  
  import cv2
  import rospy
  from std_msgs.msg import String
  from sensor_msgs.msg import Image
  from cv_bridge import CvBridge
  
  
  def talker():
      pub = rospy.Publisher('/lena/string', String, queue_size=10)
      pub2 = rospy.Publisher('/lena/image', Image, queue_size=10)
      rospy.init_node('talker_lena', anonymous=True)
      rate = rospy.Rate(10)  # 10hz
  
      bridge = CvBridge()
  
      img = cv2.imread('../../../../misc/lena.jpg')
      image_message = bridge.cv2_to_imgmsg(img, encoding="passthrough")
  
      while not rospy.is_shutdown():
          cv2.imshow('/lena/image', img)
  
          hello_str = "hello world %s" % rospy.get_time()
          rospy.loginfo(hello_str)
          pub.publish(hello_str)
          pub2.publish(image_message)
          rate.sleep()
  
          if cv2.waitKey(1) & 0xFF == ord('q'):  # without waitKey() the images are not shown.
              break
  
  
  if __name__ == '__main__':
      try:
          talker()
      except rospy.ROSInterruptException:
          pass
  