Add simple methods to modify the ROS time

felixdivo / ros2-easy-test

A Python test framework for ROS2 allowing simple and expressive assertions based on message interactions.

https://ros2-easy-test.readthedocs.io

MIT License

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Add simple methods to modify the ROS time #10

Open felixdivo opened 1 year ago

felixdivo commented 1 year ago

Useful features would be:

skipping ahead (given a time difference)
skipping back is probably less useful in most scenarios
setting the time to a concrete value
waiting for a specific duration/until a certain time point

It would probably be easiest to add them to the env.

felixdivo commented 1 year ago

Useful resources:

Migration notes from ROS1->ROS2
- https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-ROS-Clocks-and-sim-time
- https://github.com/ros2/ros2/issues/350
Design documents
- https://design.ros2.org/articles/clock_and_time.html
- https://github.com/ros2/ros2_documentation/issues/1175
Implementation
- https://github.com/ros2/rclpy/blob/f6d652fa2d5d3a8164cc69fb543ae0693e958262/rclpy/rclpy/clock.py#L294

Timple commented 6 months ago

As interface perhaps some setters?

env.time_set(0)
assert node_initalized
env.time_set(18)
assert timeout_behavior

env.time_jump(8.0)  # seconds

env.time_rate(10)  # Runs clock 10x as fast