Time Slot Publisher

2_1_타임슬롯_sender.ipynb
Running the cell code

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import rospy
from std_msgs.msg import Int32
import time

Import rospy modules
Import Int32 from std_msgs.msg module
Import time module

rospy.init_node( 'Sender', anonymous=False)
pub = rospy.Publisher('my_topic', Int32, queue_size=0)

Create Sender Node
my_topic Topic Publish

def do_job(num):
    for i in range(num):
        i += 1
        pub.publish(i)

Create do_job(num) function
Adds days to i until i equals num, then publishes Message i

print("")
r = input('Rate: ') #How big is the size of one time slot? = (1/r) seconds
num = input('Num: ') #How many to send = (1/r) Number of data to send per second
print("")

rate = rospy.Rate(r)
elapsed_total = 0

for _ in range(r):
    start_send = rospy.get_time()
    do_job(num)
    end_send = rospy.get_time()
    elapsed_sending = end_send - start_send

    start_sleep = rospy.get_time()
    rate.sleep()
    end_sleep = rospy.get_time()
    elapsed_sleep = end_sleep - start_sleep

    print(" Send: %.5f sec" % elapsed_sending)
    print("Sleep: %.5f sec" % elapsed_sleep)
    print("Total: %.5f sec\n" % (elapsed_sending + elapsed_sleep))

    elapsed_total += (elapsed_sending + elapsed_sleep)

print("\n------------- [Report]--------------")
print("It took %.5f seconds to send data" % elapsed_total)
print("-------------------------------------")

Specify r and num as user input
Set rate to r
Set the elapsed_total variable to 0
Execute the for statement r times
- Set the start_send variable to the current Timestamp
- Execute the do_job(num) function
- Set the start_send variable to the current Timestamp
- Set the elapsed_sending variable to end_send - start_send
- Set the start_sleep variable to the current Timestamp
- Time delay for rate
- Set the end_sleep variable to the current Timestamp
- Set the elapsed_sleep variable to end_sleep - start_sleep
- Output elapsed_sending, elapsed_sleep, (elapsed_sending + elapsed_sleep)
- Add (elapsed_sending + elapsed_sleep) to elapsed_total
elapsed_total output
- Total time to send rate, sleep, and data after sending data as much as the number of num in 1/r second
- As the number of data to be sent for 1/r second increases, sleep decreases.