def do_timer(goal):
start_time = time.time()
time.sleep(goal.time_to_wait.to_sec())
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = 0
server.set_succeeded(result)
def do_timer(goal): # only the TimerGoal gets passed to do_timer
start_time = time.time()
time.sleep(goal.time_to_wait.to_sec())
result = TimerResult()
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = 8 #random no.
server.set_succeeded(result)
def do_timer(goal): # Next, we define do_timer(),
# the function that will be invoked
# when we receive a new goal.
# In this function, we handle the new goal in-place
# and set a result before returning.
# The type of the "goal" argument that is passed
# to do_timer() is TimerGoal,
# which corresponds to the goal part of Timer.action.
start_time = time.time() # We save the current time,
# using the standard Python time.time() function
time.sleep(goal.time_to_wait.to_sec()
) # then sleep for the time requested in the goal,
# converting the time_to_wait field
# from a ROS duration to seconds:
result = TimerResult() # The next step is to build up the result message,
# which will be of type TimerResult;
# corresponds to the result part of Timer.action.
result.time_elapsed = rospy.Duration.from_sec(
time.time() - start_time) # We fill in the time_elapsed field
# by subtracting our saved "start time" from
# "current time," and simultaneously
# convert the result to a ROS duration.
result.updates_sent = 0 # We set updates_sent to zero,
# because we didn’t send any updates
# along the way (we’ll add that part shortly):
server.set_succeeded(result) # Our final step in the callback
def do_timer(goal): start_time = time.time() time.sleep(goal.time_to_wait.to_sec()) result = TimerResult() result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) result.updates_sent = 0 server.set_succeeded(result)
def do_timer(goal): #goal is of type TimerGoal which corresponds to the goal part of timer.action
start_time = time.time()
time.sleep(goal.time_to_wait.to_sec())
result = TimerResult()
#fill out the time_elapsed field by subtracting start time from currnet time and converting to a ROS duration
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = 0 #do not send any updates
server.set_succeeded(result) #tell SimpleActionServer we successfully achieved the goal
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
): #goal is of type TimerGoal which corresponds to the goal part of timer.action
start_time = time.time()
time.sleep(goal.time_to_wait.to_sec())
result = TimerResult()
#fill out the time_elapsed field by subtracting start time from currnet time and converting to a ROS duration
result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
result.updates_sent = 0 #do not send any updates
server.set_succeeded(
result) #tell SimpleActionServer we successfully achieved the goal
def do_timer(goal): start_time = time.time() # Save current time time.sleep(goal.time_to_wait.to_sec()) # Wait the time given in the goal # Build the result message result = TimerResult() # Fill in the time_elapsed (ROS duration format) result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time) # The updates functionality is not implemented here result.updates_sent = 0 # Inform that we succeeded and return the result server.set_succeeded(result)
def do_timer(goal):
start_time = time.time()
update_count = 0
while (time.time() - start_time) < goal.time_to_wait.to_sec():
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-log wait")
return
feedback = TimerFeedback()
feedback.time_elapsed = rospy.Duration.from_sec(time.time() -
start_time)
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() # 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")
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(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()
# 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()
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")
