Package rospy :: Module rostime

Module rostime

ROS time and duration representations, as well as internal routines for managing wallclock versus a simulated clock. The important data classes are Time and Duration, which represent the ROS 'time' and 'duration' primitives, respectively.

Classes
	Duration Duration represents the ROS 'duration' primitive type, which consists of two integers: seconds and nanoseconds.
	Time Time represents the ROS 'time' primitive type, which consists of two integers: seconds since epoch and nanoseconds since seconds.

Functions

Time

get_rostime()
Get the current time as a Time object

source code

float

get_time()
Get the current time as float secs (time.time() format)

source code

set_rostime_initialized(val)
Internal use.

source code

bool

is_rostime_initialized()
Internal use.

source code

threading.Cond

get_rostime_cond()
internal API for helper routines that need to wait on time updates

source code

bool

is_wallclock()
Internal use for ROS-time routines.

source code

switch_to_wallclock()
Internal use.

source code

wallsleep(duration)
Internal use.

source code

Variables
	__package__ = `'rospy'`

Function Details

get_rostime()

source code

Get the current time as a Time object

Returns: Time: current time as a rospy.Time object

get_time()

source code

Get the current time as float secs (time.time() format)

Returns: float: time in secs (time.time() format)

set_rostime_initialized(val)

source code

Internal use. Mark rostime as initialized. This flag enables other routines to throw exceptions if rostime is being used before the underlying system is initialized.

Parameters:

val (bool) - value for initialization state

is_rostime_initialized()

source code

Internal use.

Returns: bool: True if rostime has been initialized

get_rostime_cond()

source code

internal API for helper routines that need to wait on time updates

Returns: threading.Cond: rostime conditional var

is_wallclock()

source code

Internal use for ROS-time routines.

Returns: bool: True if ROS is currently using wallclock time

switch_to_wallclock()

source code

Internal use. Switch ROS to wallclock time. This is mainly for testing purposes.

wallsleep(duration)

source code

Internal use. Windows interrupts time.sleep with an IOError exception when a signal is caught. Even when the signal is handled by a callback, it will then proceed to throw IOError when the handling has completed.

Refer to https://code.ros.org/trac/ros/ticket/3421.

So we create a platform dependant wrapper to handle this here.