Provides a standardized interface for interfacing with preemptable tasks. Examples of this include moving the base to a target location, performing a laser scan and returning the resulting point cloud, detecting the handle of a door, etc.
Support None for no timeout in line with rospy.wait_for_message
In our tests we use the wait_for_message and wait_for_topic functions a lot. And having different syntax for both is inconvenient.
Alternative implementation:
I can also rewrite to have None the default and be backwards compatible with rospy.Duration(0). Should not be too hard because they are both falsy. Let me know if this is desired.
Support None for no timeout in line with rospy.wait_for_message
In our tests we use the
wait_for_messageandwait_for_topicfunctions a lot. And having different syntax for both is inconvenient.Alternative implementation: I can also rewrite to have
Nonethe default and be backwards compatible withrospy.Duration(0). Should not be too hard because they are both falsy. Let me know if this is desired.