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Say I have a ros rate of 10 Hz. Does ros.spinOnce() occur during ros::Duration(2).sleep() ?
Example:
void main(void){
ros::nh;
ros::rate r(10);
while(ros::ok())
{
do something;
ros::Duration(2).sleep();
ros::spinOnce();
}
}
This has been asked before. See #q203760.
And we could also look at the source: ros::Duration::sleep() eventually calls ros_wallsleep(..), which basically does:
timespec req = { sec, nsec };
timespec rem = {0, 0};
while (nanosleep(&req, &rem) && !g_stopped)
{
req = rem;
}
and nothing more.
Asked: 2017-02-03 10:49:43 -0600
Seen: 890 times
Last updated: Feb 03 '17
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ros::rate r(10);as it is used, is doing nothing. If you want the loop to run at 10Hz you should callr.sleep()at the end of your while loop.Currently the loop would run at a rate of 1/(2 + call backs processing time).