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rospy: #2652 don't subscribe to clock if is_use_simtime is not set

This commit is contained in:
Ken Conley 2010-05-11 00:00:13 +00:00
parent 25e1fc6393
commit 18b015c2aa
1 changed files with 11 additions and 9 deletions
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20
core/rospy/src/rospy/impl/simtime.py
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@ -70,21 +70,23 @@ def _set_rostime_time_wrapper(time_msg):
def init_simtime():
"""
Initialize the ROS time system by connecting to the /time topic and
check the state of the /use_sim_time parameter.
Initialize the ROS time system by connecting to the /time topic
IFF the /use_sim_time parameter is set.
"""
import logging
logger = logging.getLogger("rospy.simtime")
try:
global _rostime_sub, _clock_sub
if _rostime_sub is None:
logger.info("initializing %s core topic"%_ROSCLOCK)
_clock_sub = rospy.topics.Subscriber(_ROSCLOCK, roslib.msg.Clock, _set_rostime_clock_wrapper)
logger.info("connected to core topic %s"%_ROSCLOCK)
if not _is_use_simtime():
logger.info("%s is not set, will not subscribe to simulated time [%s] topic"%(_USE_SIMTIME, _ROSCLOCK))
else:
global _rostime_sub, _clock_sub
if _rostime_sub is None:
logger.info("initializing %s core topic"%_ROSCLOCK)
_clock_sub = rospy.topics.Subscriber(_ROSCLOCK, roslib.msg.Clock, _set_rostime_clock_wrapper)
logger.info("connected to core topic %s"%_ROSCLOCK)
if _is_use_simtime():
_set_rostime(rospy.rostime.Time(0, 0))
rospy.rostime.set_rostime_initialized(True)
rospy.rostime.set_rostime_initialized(True)
return True
except Exception, e:
logger.error("Unable to initialize %s: %s\n%s", _ROSCLOCK, e, traceback.format_exc())