00001 00002 // The roscpp_tutorials package tries to show off the roscpp c++ client library 00003 // 00004 // Copyright (C) 2008, Morgan Quigley 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright notice, 00009 // this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of Stanford University nor the names of its 00014 // contributors may be used to endorse or promote products derived from 00015 // this software without specific prior written permission. 00016 // 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 // POSSIBILITY OF SUCH DAMAGE. 00029 00030 #include <cstdio> 00031 #include "ros/time.h" 00032 00033 int main(int /*argc*/, char **/*argv*/) 00034 { 00035 ros::Time::init(); 00036 // ros::Duration objects are constructed with two parameters: the first 00037 // is the number of seconds in the duration, and the second is the number 00038 // of nanoseconds. 00039 // Once you have this object constructed, you can call its sleep() method 00040 // to sleep for its duration. (The underlying implementation is nanosleep) 00041 printf("sleeping for one second\n"); 00042 ros::Duration(1, 0).sleep(); 00043 00044 // This just shows how you have to have to use a lot of zeros to get a half 00045 // second in nanoseconds. 00046 printf("sleeping for a half second\n"); 00047 ros::Duration(0, 500000000).sleep(); 00048 00049 // This usage constructs a ros::Duration object and keeps it around, calling 00050 // the sleep() function repeatedly. 00051 ros::Duration tenth(0, 100000000); // 0.1 seconds 00052 for (int i = 0; i < 5; i++) 00053 { 00054 printf("sleeping for a tenth of a second\n"); 00055 tenth.sleep(); 00056 } 00057 00058 00059 return 0; 00060 } 00061