$search

fake_time.py

Go to the documentation of this file.

#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2010, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of Willow Garage, Inc. nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Revision $Id: talker.py 5263 2009-07-17 23:30:38Z sfkwc $

"""
This publishes wall clock to the /clock topic to test simulated time routines
"""

import roslib; roslib.load_manifest('test_ros')

import time
import rospy
from rosgraph_msgs.msg import Clock

def faketime():
    rospy.set_param('/use_sim_time', True)
    pub = rospy.Publisher('/clock', Clock)
    rospy.init_node('fake_time')
    c = Clock()
    while not rospy.is_shutdown():
        float_secs = time.time()
        secs = int(float_secs)
        c.clock.nsecs = int((float_secs - secs) * 1000000000)
        c.clock.secs = secs
        pub.publish(c)
        time.sleep(0.01)
        
if __name__ == '__main__':
    try:
        faketime()
    except rospy.ROSInterruptException: pass

---

planning_environment
Author(s): Ioan Sucan
autogenerated on Fri Mar 1 14:16:58 2013