From 0be932c1d2dc25a3e50550a5f47a3a8143ec70e4 Mon Sep 17 00:00:00 2001
From: Fabien Grzeskowiak <fabien.grzeskowiak@inria.fr>
Date: Mon, 8 Jul 2019 17:50:23 +0200
Subject: [PATCH] add clock controller
---
crowdbotsim/scripts/clock_publisher.py | 41 ++++++++++++++++++++++++++
crowdbotsim/scripts/joy_to_twist.py | 2 +-
2 files changed, 42 insertions(+), 1 deletion(-)
create mode 100755 crowdbotsim/scripts/clock_publisher.py
diff --git a/crowdbotsim/scripts/clock_publisher.py b/crowdbotsim/scripts/clock_publisher.py
new file mode 100755
index 0000000..c0b8ec7
--- /dev/null
+++ b/crowdbotsim/scripts/clock_publisher.py
@@ -0,0 +1,41 @@
+#!/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()
+
+
+
diff --git a/crowdbotsim/scripts/joy_to_twist.py b/crowdbotsim/scripts/joy_to_twist.py
index a2aba1d..52f7f83 100755
--- a/crowdbotsim/scripts/joy_to_twist.py
+++ b/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()
--
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