#NEWLINE# def publish( self , client_id , topic , msg , latch = False , queue_size = 100 ) : #NEWLINE# #INDENT# ' Publish a message on the given topic.\n\n        Tries to create a publisher on the topic if one does not already exist.\n\n        Keyword arguments:\n        client_id -- the ID of the client making this request\n        topic     -- the topic to publish the message on\n        msg       -- a JSON-like dict of fields and values\n        latch     -- (optional) whether to make this publisher latched\n        queue_size -- (optional) rospy publisher queue_size to use\n\n        Throws:\n        Exception -- a variety of exceptions are propagated.  They can be\n        thrown if there is a problem setting up or getting the publisher,\n        or if the provided msg does not map to the msg class of the publisher.\n\n        ' #NEWLINE# self . register ( client_id , self , latch = latch , queue_size = queue_size ) #NEWLINE# self . _publishers [ topic ] . publish ( msg )