import rospy
from pynput import keyboard
from threading import Thread
from nav_msgs.msg import Odometry

class Rebpublic:
    def __init__(self):
        self.is_pub = True
        self.lidar_odom1_pub = rospy.Publisher("/m2/gpsOdom1", Odometry, queue_size=1)
    
    def on_press(self, key):
        try:
            if key.char == "q":
                self.is_pub = not self.is_pub
            print(self.is_pub)
        except:
            print("error")
    
    def odom_callback(self, data):
        if self.is_pub:
            self.lidar_odom1_pub.publish(data)
            print("publish", rospy.get_time())
        else:
            print("not publish", rospy.get_time())

    def key_listen(self):
        with keyboard.Listener(on_press=self.on_press) as listener:
            listener.join()

    def listen(self):
        rospy.Subscriber("/m2/gpsOdom", Odometry, self.odom_callback, queue_size=1)
        rospy.spin()

if __name__ == "__main__":
    rospy.init_node("republic", anonymous=True)
    rebpublic = Rebpublic()
    thread_key_listern = Thread(target=rebpublic.key_listen, args=())
    thread_key_listern.start()
    rebpublic.listen()