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ros2 topic pub starts publishing right away. #626

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May 12, 2021
Merged

ros2 topic pub starts publishing right away. #626

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21 changes: 13 additions & 8 deletions ros2topic/ros2topic/verb/pub.py
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Original file line number Diff line number Diff line change
Expand Up @@ -188,11 +188,16 @@ def timer_callback():
print('publishing #%d: %r\n' % (count, msg))
pub.publish(msg)

timer = node.create_timer(period, timer_callback)
while times == 0 or count < times:
rclpy.spin_once(node)

# give some time for the messages to reach the wire before exiting
time.sleep(keep_alive)

node.destroy_timer(timer)
# give some time for discovery process
time.sleep(0.1)
timer_callback()
if times != 1:
timer = node.create_timer(period, timer_callback)
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while times == 0 or count < times:
rclpy.spin_once(node)
# give some time for the messages to reach the wire before exiting
time.sleep(keep_alive)
node.destroy_timer(timer)
else:
# give some time for the messages to reach the wire before exiting
time.sleep(keep_alive)