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[jsk_topic_tools] Eval at every timer callback #1758

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merged 2 commits into from
Nov 16, 2022
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[jsk_topic_tools] Eval at every timer callback #1758

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7e35357
[jsk_topic_tools] Eval at every timer callback
iory Aug 23, 2022
7435a08
[jsk_topic_tools/boolean_node] Add escape sequence descriptions
iory Aug 25, 2022
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7 changes: 7 additions & 0 deletions doc/jsk_topic_tools/scripts/boolean_node.rst
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Expand Up @@ -66,6 +66,13 @@ 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"


* ``~rate`` (Int, Default: ``100``)

Publishing rate [Hz].
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12 changes: 7 additions & 5 deletions jsk_topic_tools/scripts/boolean_node.py
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Expand Up @@ -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))


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