[ros-users] rospy and simulation time
wpdster at gmail.com
Thu Nov 4 22:08:39 UTC 2010
Thanks for the quick reply. Even as I pasted the code into my email,
I was thinking "Gee, isn't there supposed to be the name of the code
somewhere in here?". Oh well, they say that memory is the second
thing to go...
I added the following line:
immediately following the the 2 import statements and ran the code again.
With pr2_empty_world.launch running, I ran the code. It exited at
Then, when I ran it again, it exited immediately.... each time.
(Now _this_ is similar to the timeout issue I mentioned earler.)
Is that to be expected? Did I miss something else?
On Thu, Nov 4, 2010 at 5:18 PM, Ken Conley <kwc at willowgarage.com> wrote:
> Hi Patrick,
> rospy does obey simulation time, but you have to initialize a node
> (i.e. you need an init_node()). Only nodes can obey simulated time
> because you have to subscribe to a topic.
> - Ken
> On Thu, Nov 4, 2010 at 1:58 PM, Patrick Doyle <wpdster at gmail.com> wrote:
>> Is it possible to make rospy use simulation time instead of wall-clock time?
>> Consider the following program:
>> #!/usr/bin/env python
>> import roslib; roslib.load_manifest('wpdtb')
>> import rospy
>> print "About to sleep for 5 seconds..."
>> print "done"
>> I run this on a slow machine (i.e. one in which simulation time runs
>> slower than real time). If I start up roscore in one window, and run
>> this in a second window, it exits after 5 seconds as expected. If
>> instead I launch the PR2 simulator in one window:
>> $ roslaunch pr2_gazabo pr2_empty_world.launch
>> and run this in a second window, it still exits after about 5
>> wallclock seconds. I thought the /use_sim_time parameter would have
>> made this wait 5 simulated seconds.
>> I have similar problems with rospy.rate(). And I've given up all
>> together passing a Duration() timeout to wait_for_service().
>> ros-users mailing list
>> ros-users at code.ros.org
> ros-users mailing list
> ros-users at code.ros.org
More information about the ros-users