Added support and tests for specifying a 'time' field as the string

"now"

rosbridge/rosbridge_library/src/rosbridge_library/internal/message_conversion.py

@@ -143,6 +143,9 @@ def _to_binary_inst(msg):
 
 def _to_time_inst(msg, rostype, inst=None):
     # Create an instance if we haven't been provided with one
+    if rostype == "time" and msg == "now":
+        return rospy.get_rostime()
+
     if inst is None:
         if rostype == "time":
             inst = rospy.rostime.Time()

rosbridge/rosbridge_test/test/rosbridge_library/internal/test_message_conversion.py

@@ -173,6 +173,23 @@ def test_time_msg(self):
 
         msg = {"times": [{"secs": 3, "nsecs": 5}, {"secs": 2, "nsecs": 7}]}
         self.do_test(msg, "rosbridge_test/TimeArrayTest")
+
+    def test_time_msg_now(self):
+        msg = {"data": "now"}
+        msgtype = "std_msgs/Time"
+
+        inst = ros_loader.get_message_instance(msgtype)
+        c.populate_instance(msg, inst)
+        currenttime = rospy.get_rostime()
+        self.validate_instance(inst)
+        extracted = c.extract_values(inst)
+        print extracted
+        self.assertIn("data", extracted)
+        self.assertIn("secs", extracted["data"])
+        self.assertIn("nsecs", extracted["data"])
+        self.assertNotEqual(extracted["data"]["secs"], 0)
+        self.assertLessEqual(extracted["data"]["secs"], currenttime.secs)
+        self.assertGreaterEqual(currenttime.secs, extracted["data"]["secs"])
 
     def test_duration_msg(self):
         msg = {"data": {"secs": 3, "nsecs": 5}}