Comments (9)
I can take this item if nobody is looking at it yet.
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I don't think anyone is actively working on this. If you'd like to start work on the clock, timer and rate that would be feasible. The time source is blocked on the availability of parameters. If you'd like to pick it up I'd suggest creating a separate ticket for one of the smaller parts to sketch out how you're going to approach it to get feedback before you jump in and implement it.
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Here's some additional detail about the steps that would be required.
- Time class wrapping rcl types (
rcl_time_point
,rcl_duration
) and functions (rcl_difference_times
,rcl_get_time_now
). Conversions to/from builtin_interfaces msg type. - Clock class wrapping rcl's
rcl_clock_t
, exposing get_now; Node has a clock; demos using node.now() if appropriate. - TimeSource wrapping rcl; implementation of ROS time support: A node is used to create a TimeSource of "ROS time" (subscription to /clock, use_sim_time support by some means), node's clock is managed by the TimeSource.
- Time jump types (
TimeJump
,JumpThreshold
) and logic moved from rclcpp to rcl, wrapped in python. Jump handlers in python. - Timer using specific Clock (rclpy Timer currently wraps an rcl timer that rcl_wait uses) in a similar manner to what will be done for rclcpp.
- Addition of Rate in a similar manner to what will be done for rclcpp.
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Another one for the list, oneshot timers?
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A oneshot timer should be straight forward to implement on top of regular timers by cancelling the timer in the first callback.
Please consider to contribute a pull request for this feature.
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@dirk-thomas do you know if anyone took a shot at contributing a simple one shot timer? If not I will give it a try
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do you know if anyone took a shot at contributing a simple one shot timer?
Not that I am aware of.
If not I will give it a try
That would be great.
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I'm in need of Rate method to use sim_time
. Has Rate method been implemented on rclpy yet? Thanks.
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I'm in need of Rate method to use sim_time. Has Rate method been implemented on rclpy yet?
Nope. PRs welcome ;)
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Related Issues (20)
- Feature Request for MultiProcessExecutor HOT 2
- async wait/sleep implementation HOT 4
- KeyError in ActionServer._execute_goal HOT 5
- [Feature] Static Type Checking With ament_mypy HOT 1
- Added optional TimerInfo to timer callback
- :farmer: `test_guard_condition` failing consisntent in CycloneDDS HOT 1
- Add utility function to get datetime.datetime from Time HOT 1
- Decode ROS2 raw byte data using rclpy.serialization.deserialize_message HOT 3
- Rate object's destroy() does not destroy the underlying Timer object, leading to CPU usage explosion HOT 6
- Update the executor to not throw ExternalShutdownException
- Make nodes, publishers, subscriptions, services, clients, action servers, action clients Python context managers
- aarch64 cross compiling HOT 9
- Executors mishandle invalid waitables HOT 4
- context.on_shutdown is never called HOT 7
- Bad interaction between `torch.compile` and `MultiThreadedExecutor` HOT 1
- First Time Contributors Documentation (CONTRIBUTING.md) HOT 2
- Python message with uint32 Assertion `PyLong_Check(field)' failed HOT 2
- Memory leak in ActionServer. ```taken_data = self._handle.take_goal_request``` HOT 4
- [Bug] error when node created with rclpy.node.Node HOT 1
- Async tasks are processed in LIFO not FIFO HOT 3
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