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[ros2topic] fix pub rate reduced issue #141

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Sep 1, 2018
Merged

[ros2topic] fix pub rate reduced issue #141

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17 changes: 12 additions & 5 deletions ros2topic/ros2topic/verb/pub.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,14 +101,21 @@ def publisher(

print('publisher: beginning loop')
count = 0
while rclpy.ok():

def timer_callback():
nonlocal count
count += 1
if print_nth and count % print_nth == 0:
print('publishing #%d: %r\n' % (count, msg))
pub.publish(msg)
if once:
time.sleep(0.1) # make sure the message reaches the wire before exiting
break
time.sleep(period)

timer = node.create_timer(period, timer_callback)
if once:
rclpy.spin_once(node)
time.sleep(0.1) # make sure the message reaches the wire before exiting
else:
rclpy.spin(node)

node.destroy_timer(timer)
node.destroy_node()
rclpy.shutdown()