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

def talker():
    pub = rospy.Publisher('li', Int32, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(0.05) # 0.05hz
    k = 0
    while not rospy.is_shutdown():
        integer =  k
        k += 4
        rospy.loginfo(integer)
        pub.publish(integer)
        rate.sleep()
        

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass
