def do_timer(goal):
start_time = time.time()
update_count = 0
if goal.time_to_wait.to_sec() > 60.0:
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_aborted(result, "Timer aborted due to too-long wait")
return
while (time.time() - start_time) < goal.time_to_wait.to_sec():
if server.is_preempt_requested():
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() -
start_time)
result.updates_sent = update_count
server.set_preempted(result, "Timer preempted")
return
feedback = TimerFeedback()
feedback.time_elapsed = rospy.Duration.from_sec(time.time() -
start_time)
feedback.time_remaining = goal.time_to_wait - feedback.time_elapsed
server.publish_feedback(feedback)
update_count += 1
time.sleep(0.5)
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_succeeded(result, "Timer completed successfully")
def do_timer(goal):
start_time = time.time()
updates_count = 0
if goal.time_to_wait.to_sec() > 60:
result = TimerResult()
result.updates_sent = updates_count
result.time_elapsed = \
rospy.Duration.from_sec(time.time() - start_time)
server.set_aborted(result, "Goal Time is too high")
return
while time.time() <= start_time + goal.time_to_wait.to_sec():
if server.is_preempt_requested():
result = TimerResult()
result.time_elapsed = \
rospy.Duration.from_sec(time.time() -
start_time)
result.updates_sent = updates_count
server.set_preempted(result, "Timer Preempted")
return
feedback = TimerFeedback()
feedback.time_elapsed = \
rospy.Duration.from_sec(time.time() - start_time)
feedback.time_remaining = (goal.time_to_wait - feedback.time_elapsed)
server.publish_feedback(feedback)
updates_count += 1
time.sleep(1.0)
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = updates_count
server.set_succeeded(result, "Timer completed successfully")
def do_timer(goal):
start_time = time.time()
update_count = 0
if goal.time_to_wait.to_sec() > 60.0:
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_aborted(result, "Timer aborted due to too-long wait")
return
while (time.time() - start_time) < goal.time_to_wait.to_sec():
if server.is_preempt_requested():
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_preempted(result, "Timer preempted")
return
feedback = TimerFeedback()
feedback.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
feedback.time_remaining = goal.time_to_wait - feedback.time_elapsed
server.publish_feedback(feedback)
update_count += 1
time.sleep(1.0)
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_succeeded(result, "Timer completed successfully")
def do_timer(goal):
start_time = time.time()
update_count = 0 # Stepping inside our do_timer() callback,
# we add a variable (update_count)
# that will keep track of
# how many times we publish feedback:
if goal.time_to_wait.to_sec() > 60.0: #
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_aborted(result, "Timer aborted due to too-long wait")
return
"""
Next, we add some error checking.
We don’t want this timer to be used for long waits,
so we check whether the requested time_to_wait is greater than 60 seconds, and if
so, we explicitly abort the goal by calling set_aborted().
This call sends a message to
the client notifying it that the goal has been aborted. Like with set_succeeded(), we
include a result; doing this is optional, but a good idea if possible.
We also include a status string
to help the client understand what happened;
in this case, we aborted
because the requested wait was too long.
Finally, we return from the callback because
we’re done with this goal:
"""
while (time.time() - start_time) < goal.time_to_wait.to_sec():
if server.is_preempt_requested():
result = TimerResult()
result.time_elapsed = \
rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_preempted(result, "Timer preempted")
return
feedback = TimerFeedback()
feedback.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
feedback.time_remaining = goal.time_to_wait - feedback.time_elapsed
server.publish_feedback(feedback)
update_count += 1
time.sleep(1.0)
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_succeeded(result, "Timer completed successfully")
def do_timer(goal):
start_time = time.time()
# BEGIN PART_2
update_count = 0
# END PART_2
# BEGIN PART_3
if goal.time_to_wait.to_sec() > 60.0:
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_aborted(result, "Timer aborted due to too-long wait")
return
# END PART_3
# BEGIN PART_4
while (time.time() - start_time) < goal.time_to_wait.to_sec():
# END PART_4
# BEGIN PART_5
if server.is_preempt_requested():
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() -
start_time)
result.updates_sent = update_count
server.set_preempted(result, "Timer preempted")
return
# END PART_5
# BEGIN PART_6
feedback = TimerFeedback()
feedback.time_elapsed = rospy.Duration.from_sec(time.time() -
start_time)
feedback.time_remaining = goal.time_to_wait - feedback.time_elapsed
server.publish_feedback(feedback)
update_count += 1
# END PART_6
# BEGIN PART_7
time.sleep(1.0)
# END PART_7
# BEGIN PART_8
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = update_count
server.set_succeeded(result, "Timer completed successfully")
def do_timer(goal): start_time = time.time() update_count = 0 ## GOAL ABORT if goal.time_to_wait.to_sec() > 60: result = TimerResult() result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) result.updates_sent = update_count server.set_aborted(result, "ABORTED BECAUSE TIME TOO LONG") return while (time.time() - start_time) < goal.time_to_wait.to_sec(): ## GOAL PREEMPT if server.is_preempt_requested(): result = TimerResult() result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) result.updates_sent = update_count server.set_preempted(result, "TIME PREEMPTED BY CLIENT") return ## FEEDBACK Feedback = TimerFeedback() Feedback.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) Feedback.time_remaining = goal.time_to_wait - Feedback.time_elapsed server.publish_feedback(Feedback) update_count = update_count + 1 rospy.sleep(1.0) ## GOAL SUCCESS result = TimerResult() result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) result.updates_sent = update_count server.set_succeeded(result, 'TIMER COMPLETED')
def do_timer(goal): start_time = time.time() # Save current time update_count = 0 # Initialize update counter # The maximum time is 60 seconds. Abort if given goal is greater. if goal.time_to_wait.to_sec() > 60.0: result = TimerResult() result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) result.updates_sent = update_count server.set_aborted(result, "Timer aborted due to too long wait") return # Go over the goal time in 1.0 s increments, testing for preemption and # sending updates in between pauses while (time.time() - start_time) < goal.time_to_wait.to_sec(): # Check for preemption and abort if true if server.is_preempt_requested(): result = TimerResult() result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) result.updates_sent = update_count server.set_preempted(result, "Timer preempted") return # Send feedback feedback = TimerFeedback() feedback.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) feedback.time_remaining = goal.time_to_wait - feedback.time_elapsed server.publish_feedback(feedback) update_count += 1 # Increment update counter # Sleep for 1.0 sec time.sleep(1.0) # If the loop is concluded, the timer succeeded. Send the final result. result = TimerResult() result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) result.updates_sent = update_count server.set_succeeded(result, "Timer completed successfully")