rclpy.timer module

class rclpy.timer.Rate(timer: Timer, *, context)

Bases: object

A utility for sleeping at a fixed rate.

destroy()

sleep()

Block until timer triggers.

Care should be taken when calling this from a callback. This may block forever if called in a callback in a SingleThreadedExecutor.

class rclpy.timer.Timer(callback, callback_group, timer_period_ns, clock, *, context=None)

Bases: object

cancel()

property clock

destroy()

property handle

is_canceled()

is_ready()

reset()

time_since_last_call()

time_until_next_call()

property timer_period_ns