Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[jsk_topic_tools] Eval at every timer callback #1758

Merged
merged 2 commits into from Nov 16, 2022
Merged

[jsk_topic_tools] Eval at every timer callback #1758

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
7e35357
[jsk_topic_tools] Eval at every timer callback
iory Aug 23, 2022
7435a08
[jsk_topic_tools/boolean_node] Add escape sequence descriptions
iory Aug 25, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
9 changes: 9 additions & 0 deletions doc/jsk_topic_tools/scripts/boolean_node.rst
View file
Open in desktop
Expand Up @@ -66,6 +66,15 @@ Parameters
input1_condition: m.header.frame_id in ['base', 'base_link']


Note that this condition is evaluated each time a topic is published. For example, a condition that checks whether a certain topic has arrived within one second look like this.

.. code-block:: bash

input1_condition: "(rospy.Time.now() - t).to_sec() < 1.0"
nakane11 marked this conversation as resolved.
Show resolved Hide resolved

Use escape sequence when using the following symbols <(``&lt;``), >(``&gt;``), &(``&amp;``), '(``&apos;``) and "(``&quot;``) in launch file.


* ``~rate`` (Int, Default: ``100``)

Publishing rate [Hz].
Expand Down
12 changes: 7 additions & 5 deletions jsk_topic_tools/scripts/boolean_node.py
View file
Open in desktop
Expand Up @@ -78,18 +78,20 @@ def callback(self, topic_name, msg):
lambda msg, tn=topic_name: self.callback(tn, msg))
self.subs[topic_name] = deserialized_sub
return
filter_fn = self.filter_fns[topic_name]
result = filter_fn(topic_name, msg, rospy.Time.now())
self.data[topic_name] = result
self.data[topic_name] = topic_name, msg, rospy.Time.now()

def timer_cb(self, timer):
if len(self.data) != self.n_input:
return
eval_values = []
for topic_name, msg, received_time in self.data.values():
filter_fn = self.filter_fns[topic_name]
eval_values.append(filter_fn(topic_name, msg, received_time))
for op_str, pub in self.pubs.items():
if op_str == 'not':
flag = not list(self.data.values())[0]
flag = not list(eval_values)[0]
else:
flag = reduce(OPERATORS[op_str], self.data.values())
flag = reduce(OPERATORS[op_str], eval_values)
pub.publish(std_msgs.msg.Bool(flag))


Expand Down