From 01f6266e431200cb06d60731bc0f3615586f9b69 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Mon, 3 Jul 2023 11:19:32 -0700
Subject: [PATCH 1/6] Added a node to publish /clock so that we can try
simulating faster than real-time.
---
ros_acomms_tests/launch/test.launch | 6 +-----
ros_acomms_tests/src/clock_generator.py | 25 +++++++++++++++++++++++++
2 files changed, 26 insertions(+), 5 deletions(-)
create mode 100755 ros_acomms_tests/src/clock_generator.py
diff --git a/ros_acomms_tests/launch/test.launch b/ros_acomms_tests/launch/test.launch
index 9d5761e9..b9b9cbb3 100644
--- a/ros_acomms_tests/launch/test.launch
+++ b/ros_acomms_tests/launch/test.launch
@@ -61,10 +61,6 @@
<!--<node name="test_modem_sim_node" pkg="ros_acomms" type="test_modem_sim_node.py" output="screen" />-->
-
-
-
-
-
+ <node name="clock_generator" pkg="ros_acomms_tests" type="clock_generator.py" />
</launch>
diff --git a/ros_acomms_tests/src/clock_generator.py b/ros_acomms_tests/src/clock_generator.py
new file mode 100755
index 00000000..4ff33a23
--- /dev/null
+++ b/ros_acomms_tests/src/clock_generator.py
@@ -0,0 +1,25 @@
+import rospy
+from rosgraph_msgs.msg import Clock
+from threading import sleep
+
+
+def clock_generator():
+ clock_publisher = rospy.Publisher('clock', Clock, queue_size=10)
+ rospy.init_node('clock_generator', anonymous=True)
+ rate = rospy.Rate(rospy.get_param("~publish_rate", 50))
+ sim_speed_multiplier = rospy.get_param("~multiplier", 5)
+ sim_clock_msg = Clock()
+ current_time = rospy.get_time()
+
+ while not rospy.is_shutdown():
+ current_time += (1 / rate) * sim_speed_multiplier
+ sim_clock_msg.clock = rospy.Time.from_sec(current_time)
+ clock_publisher.publish(sim_clock_msg)
+ sleep(1 / rate)
+
+
+if __name__ == '__main__':
+ try:
+ clock_generator()
+ except rospy.ROSInterruptException:
+ pass
\ No newline at end of file
--
GitLab
From 97c617ce2e2d9e3759b502619d4491c2ad0799af Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Mon, 3 Jul 2023 11:22:27 -0700
Subject: [PATCH 2/6] Add use_sim_time param so we actually use sim time.
---
ros_acomms_tests/launch/test.launch | 2 ++
1 file changed, 2 insertions(+)
diff --git a/ros_acomms_tests/launch/test.launch b/ros_acomms_tests/launch/test.launch
index b9b9cbb3..fec651b7 100644
--- a/ros_acomms_tests/launch/test.launch
+++ b/ros_acomms_tests/launch/test.launch
@@ -1,6 +1,8 @@
<launch>
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}"/>
+ <param name="use_sim_time" value="true">
+
<group ns="modem0">
<node name="modem_sim_node" pkg="ros_acomms_modeling" type="modem_sim_node.py" output="screen" >
<param name="center_frequency_hz" value="10000" type="int" />
--
GitLab
From c1083d93fe9df0d5249bb6513fb4ffc70c3997f1 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Mon, 3 Jul 2023 11:23:37 -0700
Subject: [PATCH 3/6] Added missing shebang.
---
ros_acomms_tests/src/clock_generator.py | 2 ++
1 file changed, 2 insertions(+)
diff --git a/ros_acomms_tests/src/clock_generator.py b/ros_acomms_tests/src/clock_generator.py
index 4ff33a23..2d076080 100755
--- a/ros_acomms_tests/src/clock_generator.py
+++ b/ros_acomms_tests/src/clock_generator.py
@@ -1,3 +1,5 @@
+#! /usr/bin/env python3
+
import rospy
from rosgraph_msgs.msg import Clock
from threading import sleep
--
GitLab
From f2c87a1f746deac5ee4fc1b6cc1d8ebd56e9e19c Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Mon, 3 Jul 2023 11:26:41 -0700
Subject: [PATCH 4/6] Fixed xml
---
ros_acomms_tests/launch/test.launch | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ros_acomms_tests/launch/test.launch b/ros_acomms_tests/launch/test.launch
index fec651b7..2a54438e 100644
--- a/ros_acomms_tests/launch/test.launch
+++ b/ros_acomms_tests/launch/test.launch
@@ -1,7 +1,7 @@
<launch>
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}"/>
- <param name="use_sim_time" value="true">
+ <param name="use_sim_time" value="true"/>
<group ns="modem0">
<node name="modem_sim_node" pkg="ros_acomms_modeling" type="modem_sim_node.py" output="screen" >
--
GitLab
From 50b630d6e505266c2ed7379c2f4aa26897e06049 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Mon, 3 Jul 2023 11:31:19 -0700
Subject: [PATCH 5/6] Use a sleep function that exists.
---
ros_acomms_tests/src/clock_generator.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ros_acomms_tests/src/clock_generator.py b/ros_acomms_tests/src/clock_generator.py
index 2d076080..f6d58938 100755
--- a/ros_acomms_tests/src/clock_generator.py
+++ b/ros_acomms_tests/src/clock_generator.py
@@ -2,7 +2,7 @@
import rospy
from rosgraph_msgs.msg import Clock
-from threading import sleep
+from time import sleep
def clock_generator():
--
GitLab
From 3f6c6e60f8789886eddffc38fcfce2b2f4eb3e63 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Mon, 3 Jul 2023 11:35:25 -0700
Subject: [PATCH 6/6] Don't cast a float as a Rate
---
ros_acomms_tests/src/clock_generator.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ros_acomms_tests/src/clock_generator.py b/ros_acomms_tests/src/clock_generator.py
index f6d58938..49cadc18 100755
--- a/ros_acomms_tests/src/clock_generator.py
+++ b/ros_acomms_tests/src/clock_generator.py
@@ -8,7 +8,7 @@ from time import sleep
def clock_generator():
clock_publisher = rospy.Publisher('clock', Clock, queue_size=10)
rospy.init_node('clock_generator', anonymous=True)
- rate = rospy.Rate(rospy.get_param("~publish_rate", 50))
+ rate = rospy.get_param("~publish_rate", 50)
sim_speed_multiplier = rospy.get_param("~multiplier", 5)
sim_clock_msg = Clock()
current_time = rospy.get_time()
--
GitLab