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Add Rate #443
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Add Rate #443
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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
jacobperron
reviewed
Oct 11, 2019
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
jacobperron
approved these changes
Oct 14, 2019
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LGTM
8 tasks
Hi, is it possible to make this feature be available for ROS2 dashing? |
We typically only backport bug fixes and not features. Though, I don't see much risk in backporting this particular feature and am open to it. @sloretz, what do you think? |
7 tasks
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Resolves #186
This adds a
Rate
class. It's a tool for running a loop at a constant rate.Plus:
weakref.WeakMethod()
.Handle.__bool__()
.Comparison with ROS 1:
rate = rospy.Rate(10)
; ROS 2rate = node.create_rate(10)
.ROSInterruptException
if the client library has been shutdownROSTimeMovedBackwardsException
; ROS 2: uses timer time jump logic.Rate
sleeps for 1 full period. If it went backwards less than a period,Rate
sleeps for the time remaining. If the time source changed, sleeps for the time remaining.SingleThreadedExecutor
Rate.remaining()
; ROS 2: not implemented. It should be easy to add if someone needs it.