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add --keep-alive option to 'topic pub' #544

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Merged
dirk-thomas merged 1 commit into from
Jun 30, 2020
Merged

add --keep-alive option to 'topic pub' #544

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12 changes: 9 additions & 3 deletions ros2topic/ros2topic/verb/pub.py
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,10 @@ def add_arguments(self, parser, cli_name):
group.add_argument(
'-t', '--times', type=nonnegative_int, default=0,
help='Publish this number of times and then exit')
parser.add_argument(
'--keep-alive', metavar='N', type=positive_float, default=0.1,
help='Keep publishing node alive for N seconds after the last msg '
'(default: 0.1)')
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dirk-thomas marked this conversation as resolved.
parser.add_argument(
'-n', '--node-name',
help='Name of the created publishing node')
Expand All @@ -109,7 +113,8 @@ def main(args):
1. / args.rate,
args.print,
times,
qos_profile)
qos_profile,
args.keep_alive)


def publisher(
Expand All @@ -121,6 +126,7 @@ def publisher(
print_nth: int,
times: int,
qos_profile: QoSProfile,
keep_alive: float,
) -> Optional[str]:
"""Initialize a node with a single publisher and run its publish loop (maybe only once)."""
msg_module = get_message(message_type)
Expand Down Expand Up @@ -150,7 +156,7 @@ def timer_callback():
while times == 0 or count < times:
rclpy.spin_once(node)

if times == 1:
time.sleep(0.1) # make sure the message reaches the wire before exiting
# give some time for the messages to reach the wire before exiting
time.sleep(keep_alive)

node.destroy_timer(timer)