add clock controller

crowdbotsim/scripts/clock_publisher.py

+#!/usr/bin/env python
+import rospy
+import sys
+import math
+from time import sleep
+from rosgraph_msgs.msg import Clock
+
+myargv = rospy.myargv(argv=sys.argv)
+script, sleep_time, delta_time = myargv
+
+sleep_time = float(sleep_time)
+delta_time = float(delta_time)
+
+def publish_clock():
+    # initialize node
+    rospy.init_node('clock_controller', anonymous = False)
+
+    ### Set up clock publisher
+    clock_pub = rospy.Publisher('clock', Clock, queue_size = 1)
+    clock_pub2 = rospy.Publisher('myclock', Clock, queue_size = 1)
+
+    msg = Clock()
+    msg.clock = rospy.Time()
+
+    current_time = 0
+
+    while not rospy.is_shutdown():
+        ### Publish clock
+        secs = int(current_time)
+        nsecs = 1e9 * (current_time - secs)
+        msg.clock =  rospy.Time(secs,nsecs)
+        clock_pub.publish(msg)
+        clock_pub2.publish(msg)
+        current_time += delta_time
+        sleep(sleep_time)
+
+if __name__ == '__main__':
+    publish_clock()
+
+
+

crowdbotsim/scripts/joy_to_twist.py

@@ -12,7 +12,7 @@ rospy.init_node('joy_to_twist', anonymous = True)
 
 
 #### Setup joy_to_twist Publisher 
-joy_to_twist_pub = rospy.Publisher(topic, Twist, queue_size = 5)
+joy_to_twist_pub = rospy.Publisher(topic, Twist, queue_size = 1)
 
 msg = Twist()