#!/usr/bin/env python
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#!/usr/bin/env python

import rospy

from sensor_msgs.msg import PointCloud
from geometry_msgs.msg import Point32

pub1 = rospy.Publisher("cloud1", PointCloud)
pub2 = rospy.Publisher("cloud2", PointCloud)

rospy.init_node('send_two_clouds')

cloud = PointCloud()
while not rospy.is_shutdown():

    cloud.header.frame_id = "base_link"
    cloud.header.stamp = rospy.Time.now()

    cloud.points = [
        Point32( 0, 0, 0 ),
        Point32( .1, 0, 0 ),
        Point32( 0, .1, 0 ),
        Point32( .1, .1, 0 )
    ]
    pub1.publish( cloud )

    cloud.points = [
        Point32( .5, 0, 0 ),
        Point32( .6, 0, 0 ),
        Point32( .5, .1, 0 ),
        Point32( .6, .1, 0 )
    ]
    pub2.publish( cloud )

    rospy.sleep(.5)
