added sleep timer to loop

ros-industrial · Oct 6, 2022 · dd75461 · dd75461
1 parent 85fa6a4
commit dd75461
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/exercises/5.3/solution_ws/ros2/src/filter_call/filter_call/filter_call.py b/exercises/5.3/solution_ws/ros2/src/filter_call/filter_call/filter_call.py
@@ -2,6 +2,7 @@
 
 import rclpy
 from rclpy.node import Node
+import time
 import py_perception.srv
 from py_perception.srv import FilterCloud
 from sensor_msgs.msg import PointCloud2
@@ -31,6 +32,7 @@ def call_filters(self):
             self.passthrough_filter()
             self.plane_segmentation()
             self.cluster_extraction()
+            time.sleep(3.0)
 
     def voxel_filter(self):
         # =======================
@@ -133,8 +135,7 @@ def cluster_extraction(self):
 
 def main(args=None):
     rclpy.init(args=args)
-    node = FilterNode()
-    rclpy.spin(node)
+    rclpy.spin(FilterNode())
     rclpy.shutdown()
 
 if __name__ == '__main__':

diff --git a/exercises/5.3/template_ws/ros2/src/filter_call/filter_call/filter_call.py b/exercises/5.3/template_ws/ros2/src/filter_call/filter_call/filter_call.py
@@ -3,6 +3,7 @@
 import rclpy
 from rclpy.node import Node
 import py_perception.srv
+import time
 from py_perception.srv import FilterCloud
 from sensor_msgs.msg import PointCloud2
 
@@ -28,6 +29,8 @@ def call_filters(self):
         while rclpy.ok():
             self.voxel_filter()
 
+            time.sleep(3.0) # sleep for 3 seconds
+
     def voxel_filter(self):
         # =======================
         # VOXEL GRID FILTER
@@ -55,8 +58,7 @@ def cluster_extraction(self):
 
 def main(args=None):
     rclpy.init(args=args)
-    node = FilterNode()
-    rclpy.spin(node)
+    rclpy.spin(FilterNode())
     rclpy.shutdown()
 
 if __name__ == '__main__':