Ask Your Question

python ros callback with if-condition timer

asked 2020-07-15 20:24:16 -0600

sneakycoder gravatar image

updated 2020-07-15 20:28:21 -0600

I have a call back set up to receive a string. that string can be 2 different things. Im trying to figure out how i can set up a timer that gets set each time each individual string possibility is recieved. and if that specific string has not been received for more than X seconds, set some flag for current status to false. What i have does not seem to work sense the timer wont persist through the if statement. however if i declare it as timer_a = None before hand , it breaks the timeout calculation.

 def string_cb(string):
   if string == 'A':
      timer_a =
   if string == 'B':
      timer_b =

   timeout_a = ( - timer_a).to_sec()
   timeout_b = ( - timer_b).to_sec()
   if timeout_a > 5.0:
      A_current = false
   if timeout_b > 5.0:
      B_current = false
edit retag flag offensive close merge delete


you can make timers global, or make your node class based and add them as class attributes

Choco93 gravatar image Choco93  ( 2020-07-16 01:55:07 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2020-07-27 08:46:32 -0600

Mermy gravatar image

In my opinion, it is better to implement timers with threads. In your case I would have a class that implements a function that simply waits some time and that can be stopped. If it arrives to the timeout, it turns your variable to False. If you receive a new string, you stop the thread and start it again.

Something like this

def watch_until_string_a(max_time_stopped, stop):
    old_time =
    diff_time = 0

    while diff_time < max_time_stopped and not stop():
        diff_time = - old_time

    if not stop():
        self.a_current = False

then you can start a timer just by doing

    th = threading.Thread(target=self.watch_until, args=(time_before, lambda: stop[0]))

with stop being a list of a single boolean

   stop = [False]

If you want to stop your thread, you just have to change the value of stop to

   stop = [True]

and you thread will stop without changing the value of the variable. Then just wait for them to finish


and you can launch it again.

The code above is for a single string, but you can easily modify it to be used with the two strings (remember that you will need one thread per string). I hope it helps.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2020-07-15 20:24:16 -0600

Seen: 457 times

Last updated: Jul 27 '20