sleep.cpp

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// The roscpp_tutorials package tries to show off the roscpp c++ client library 
//
// Copyright (C) 2008, Morgan Quigley
//
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//     this list of conditions and the following disclaimer.
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//   
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#include <cstdio>
#include "ros/time.h"

int main(int /*argc*/, char **/*argv*/)
{
  ros::Time::init();
  // ros::Duration objects are constructed with two parameters: the first
  // is the number of seconds in the duration, and the second is the number
  // of nanoseconds.
  // Once you have this object constructed, you can call its sleep() method
  // to sleep for its duration. (The underlying implementation is nanosleep)
  printf("sleeping for one second\n");
  ros::Duration(1, 0).sleep();

  // This just shows how you have to have to use a lot of zeros to get a half
  // second in nanoseconds.
  printf("sleeping for a half second\n");
  ros::Duration(0, 500000000).sleep();

  // This usage constructs a ros::Duration object and keeps it around, calling
  // the sleep() function repeatedly.
  ros::Duration tenth(0, 100000000); // 0.1 seconds
  for (int i = 0; i < 5; i++)
  {
    printf("sleeping for a tenth of a second\n");
    tenth.sleep();
  }

  
  return 0;
}