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rospy function scheduler

asked 2012-06-01 00:40:00 -0500

Yianni gravatar image

Hello,

Is there a ropsy scheduler for calling a function after a period of time (or periodically calling it every n secs). The python sched module is kind of misbehaving, I guess it conflicts with ros based on the following example using the ps joystick with the PR2:

#!/usr/bin/env python
import roslib; roslib.load_manifest('d3')
import rospy
import sched, time
from sensor_msgs.msg import Joy

class Joystick(object):
    def __init__(self, topic_name='/joy'):
        self.topic_name = topic_name
        self.buttons_names = {'l1':10, 'l2':8}
        self.sub = rospy.Subscriber(topic_name, Joy, self.cb)
        self.blocked = False
        self.sched = sched.scheduler(time.time, time.sleep)
        print '>>> press L1 button'

    def cb(self, data):
        print '>> in callback:', data.buttons[self.buttons_names['l1']], data.buttons[self.buttons_names['l2']]
        if not self.blocked:
            self.foo(data)

    def foo(self, data):
        print '>> in foo:', data.buttons[self.buttons_names['l1']], data.buttons[self.buttons_names['l2']]
        if data.buttons[self.buttons_names['l1']]:
            self.blocked = True
            rospy.loginfo('%d', data.buttons[self.buttons_names['l1']])
            rospy.loginfo('L1 pressed')
            self.sched.enter(1, 1, self.bar, ())
        self.sched.run()

    def bar(self):
        rospy.loginfo('resuming control')
        self.blocked = False

if __name__=='__main__':
    rospy.init_node('foo', anonymous=False)
    joy = Joystick()
    rospy.spin()

Thanks!

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1 Answer

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answered 2012-06-01 03:26:01 -0500

A Timer should do what you want.

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Thanks. Works like a charm.

Yianni gravatar image Yianni  ( 2012-06-01 04:22:28 -0500 )edit

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Asked: 2012-06-01 00:40:00 -0500

Seen: 870 times

Last updated: Jun 01 '12