def main(args=None):
    rclpy.init(args=args)
    minimal_publisher = MinimalPublisher()
    time.sleep(5)
    rclpy.spin(minimal_publisher)
    minimal_publisher.destroy_node()
    rclpy.shutdown()
def main(args=None):
    rclpy.init(args=args)
    minimal_publisher = MinimalPublisher()
    time.sleep(5)
    rclpy.spin(minimal_publisher)
    minimal_publisher.destroy_node()
    rclpy.shutdown()