fake_time.py
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00001 #!/usr/bin/env python
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00034 # Revision $Id: talker.py 5263 2009-07-17 23:30:38Z sfkwc $
00035 
00036 """
00037 This publishes wall clock to the /clock topic to test simulated time routines
00038 """
00039 
00040 import roslib;
00041 
00042 import time
00043 import rospy
00044 from rosgraph_msgs.msg import Clock
00045 
00046 def faketime():
00047     rospy.set_param('/use_sim_time', True)
00048     pub = rospy.Publisher('/clock', Clock)
00049     rospy.init_node('fake_time')
00050     c = Clock()
00051     while not rospy.is_shutdown():
00052         float_secs = time.time()
00053         secs = int(float_secs)
00054         c.clock.nsecs = int((float_secs - secs) * 1000000000)
00055         c.clock.secs = secs
00056         pub.publish(c)
00057         time.sleep(0.01)
00058         
00059 if __name__ == '__main__':
00060     try:
00061         faketime()
00062     except rospy.ROSInterruptException: pass
00063 


planning_environment
Author(s): Ioan Sucan
autogenerated on Mon Dec 2 2013 12:34:43