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I think it's a known problem. The thing is that when you create a publisher, it's not connect yet to ROS master server. That's why you are not able to publish the message. You can try to "sleep" for a while, like 1~5 seconds, and the publisher will be connected.

If you need to publish something just once, I'd recommend you to use a ROS service.

You can check other related questions:

• http://answers.ros.org/question/32952/with-rospy-messages-dont-seem-to-be-recieved-if-published-soon-after-creating-the-publisher/
• http://answers.ros.org/question/9665/test-for-when-a-rospy-publisher-become-available/?answer=14125#post-id-14125