fake_time.py

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#!/usr/bin/env python
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"""
This publishes wall clock to the /clock topic to test simulated time routines
"""

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