ros node pyhthon code example

Example 1: ros python subscriber

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
    
def listener():

    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber("chatter", String, callback)

    rospy.spin()

if __name__ == '__main__':
    listener()

Example 2: how to make a python node

class Node:
  def __init__(self, value, link_node=None):
    self.value = value
    self.link_node = link_node
    
  def set_link_node(self, link_node):
    self.link_node = link_node
    
  def get_link_node(self):
    return self.link_node
  
  def get_value(self):
    return self.value