fake_time.py
Go to the documentation of this file.
1 #!/usr/bin/env python
2 # Software License Agreement (BSD License)
3 #
4 # Copyright (c) 2010, Willow Garage, Inc.
5 # All rights reserved.
6 #
7 # Redistribution and use in source and binary forms, with or without
8 # modification, are permitted provided that the following conditions
9 # are met:
10 #
11 # * Redistributions of source code must retain the above copyright
12 # notice, this list of conditions and the following disclaimer.
13 # * Redistributions in binary form must reproduce the above
14 # copyright notice, this list of conditions and the following
15 # disclaimer in the documentation and/or other materials provided
16 # with the distribution.
17 # * Neither the name of Willow Garage, Inc. nor the names of its
18 # contributors may be used to endorse or promote products derived
19 # from this software without specific prior written permission.
20 #
21 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 # POSSIBILITY OF SUCH DAMAGE.
33 
34 """
35 This publishes wall clock to the /clock topic to test simulated time routines
36 """
37 
38 import time
39 import rospy
40 from rosgraph_msgs.msg import Clock
41 
42 def faketime():
43  rospy.set_param('/use_sim_time', True)
44  pub = rospy.Publisher('/clock', Clock)
45  rospy.init_node('fake_time')
46  c = Clock()
47  while not rospy.is_shutdown():
48  float_secs = time.time()
49  secs = int(float_secs)
50  c.clock.nsecs = int((float_secs - secs) * 1000000000)
51  c.clock.secs = secs
52  pub.publish(c)
53  time.sleep(0.01)
54 
55 if __name__ == '__main__':
56  try:
57  faketime()
58  except rospy.ROSInterruptException: pass
59 
def faketime()
Definition: fake_time.py:42


test_rosmaster
Author(s): Ken Conley, Dirk Thomas
autogenerated on Mon Nov 2 2020 03:52:54