diff --git a/class_model/src/test_pub.py b/class_model/src/test_pub.py
new file mode 100755
index 0000000..db4d8f7
--- /dev/null
+++ b/class_model/src/test_pub.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+#coding:utf-8
+import rospy
+from mavros_msgs.msg import Waypoint
+ 
+def callBack(data):
+    print (data.param1)
+ 
+if __name__ == '__main__':
+    nodeName = 'subscriber_py'
+    rospy.init_node(nodeName)
+    topicName = '/DroneStatus'
+    subscriber = rospy.Subscriber(topicName,Waypoint,callBack)  #從topic獲取string再呼叫callback
+    rospy.spin()
\ No newline at end of file