Merge pull request #1758 from iory/boolean-node

[jsk_topic_tools] Eval at every timer callback

Author: k-okada

doc/jsk_topic_tools/scripts/boolean_node.rst

@@ -66,6 +66,15 @@ Parameters
     input1_condition: m.header.frame_id in ['base', 'base_link']
 
 
+  Note that this condition is evaluated each time a topic is published. For example, a condition that checks whether a certain topic has arrived within one second look like this.
+
+  .. code-block:: bash
+
+    input1_condition: "(rospy.Time.now() - t).to_sec() < 1.0"
+
+  Use escape sequence when using the following symbols <(``&lt;``), >(``&gt;``), &(``&amp;``), '(``&apos;``) and "(``&quot;``) in launch file.
+
+
 * ``~rate`` (Int, Default: ``100``)
 
   Publishing rate [Hz].

jsk_topic_tools/scripts/boolean_node.py

@@ -78,18 +78,20 @@ def callback(self, topic_name, msg):
                 lambda msg, tn=topic_name: self.callback(tn, msg))
             self.subs[topic_name] = deserialized_sub
             return
-        filter_fn = self.filter_fns[topic_name]
-        result = filter_fn(topic_name, msg, rospy.Time.now())
-        self.data[topic_name] = result
+        self.data[topic_name] = topic_name, msg, rospy.Time.now()
 
     def timer_cb(self, timer):
         if len(self.data) != self.n_input:
             return
+        eval_values = []
+        for topic_name, msg, received_time in self.data.values():
+            filter_fn = self.filter_fns[topic_name]
+            eval_values.append(filter_fn(topic_name, msg, received_time))
         for op_str, pub in self.pubs.items():
             if op_str == 'not':
-                flag = not list(self.data.values())[0]
+                flag = not list(eval_values)[0]
             else:
-                flag = reduce(OPERATORS[op_str], self.data.values())
+                flag = reduce(OPERATORS[op_str], eval_values)
             pub.publish(std_msgs.msg.Bool(flag))