fake_time.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2010, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of Willow Garage, Inc. nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 """
00035 This publishes wall clock to the /clock topic to test simulated time routines
00036 """
00037 
00038 import time
00039 import rospy
00040 from rosgraph_msgs.msg import Clock
00041 
00042 def faketime():
00043     rospy.set_param('/use_sim_time', True)
00044     pub = rospy.Publisher('/clock', Clock)
00045     rospy.init_node('fake_time')
00046     c = Clock()
00047     while not rospy.is_shutdown():
00048         float_secs = time.time()
00049         secs = int(float_secs)
00050         c.clock.nsecs = int((float_secs - secs) * 1000000000)
00051         c.clock.secs = secs
00052         pub.publish(c)
00053         time.sleep(0.01)
00054         
00055 if __name__ == '__main__':
00056     try:
00057         faketime()
00058     except rospy.ROSInterruptException: pass
00059 


test_rosmaster
Author(s): Ken Conley
autogenerated on Mon Oct 6 2014 11:47:16