Home | Trees | Indices | Help |
|
---|
|
1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2008, Willow Garage, Inc. 4 # All rights reserved. 5 # 6 # Redistribution and use in source and binary forms, with or without 7 # modification, are permitted provided that the following conditions 8 # are met: 9 # 10 # * Redistributions of source code must retain the above copyright 11 # notice, this list of conditions and the following disclaimer. 12 # * Redistributions in binary form must reproduce the above 13 # copyright notice, this list of conditions and the following 14 # disclaimer in the documentation and/or other materials provided 15 # with the distribution. 16 # * Neither the name of Willow Garage, Inc. nor the names of its 17 # contributors may be used to endorse or promote products derived 18 # from this software without specific prior written permission. 19 # 20 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 # POSSIBILITY OF SUCH DAMAGE. 32 # 33 # Revision $Id$ 34 35 """Internal-use: Support for simulated clock.""" 36 37 import traceback 38 39 import rosgraph 40 from rosgraph_msgs.msg import Clock 41 42 import rospy.core 43 import rospy.rostime 44 import rospy.topics 45 46 # ROS clock topics and parameter config 47 _ROSCLOCK = '/clock' 48 _USE_SIMTIME = '/use_sim_time' 49 50 # Subscriber handles for /clock and /time 51 _rostime_sub = None 52 _rosclock_sub = None 5355 # in order to prevent circular dependencies, this does not use the 56 # builtin libraries for interacting with the parameter server, at least 57 # until I reorganize the client vs. internal APIs better. 58 master_uri = rosgraph.get_master_uri() 59 m = rospy.core.xmlrpcapi(master_uri) 60 code, msg, val = m.getParam(rospy.names.get_caller_id(), _USE_SIMTIME) 61 if code == 1 and val: 62 return True 63 return False64 65 from rospy.rostime import _set_rostime69 _set_rostime(time_msg.rostime)7072 """ 73 Initialize the ROS time system by connecting to the /time topic 74 IFF the /use_sim_time parameter is set. 75 """ 76 import logging 77 logger = logging.getLogger("rospy.simtime") 78 try: 79 if not _is_use_simtime(): 80 logger.info("%s is not set, will not subscribe to simulated time [%s] topic"%(_USE_SIMTIME, _ROSCLOCK)) 81 else: 82 global _rostime_sub, _clock_sub 83 if _rostime_sub is None: 84 logger.info("initializing %s core topic"%_ROSCLOCK) 85 _clock_sub = rospy.topics.Subscriber(_ROSCLOCK, Clock, _set_rostime_clock_wrapper, queue_size=1) 86 logger.info("connected to core topic %s"%_ROSCLOCK) 87 88 _set_rostime(rospy.rostime.Time(0, 0)) 89 rospy.rostime.set_rostime_initialized(True) 90 return True 91 except Exception as e: 92 logger.error("Unable to initialize %s: %s\n%s", _ROSCLOCK, e, traceback.format_exc()) 93 return False94
Home | Trees | Indices | Help |
|
---|
Generated by Epydoc 3.0.1 on Tue Mar 1 07:33:45 2022 | http://epydoc.sourceforge.net |