add option to support use_sim_time. (#581)

* add option to support use_sim_time.

Signed-off-by: Tomoya.Fujita <[email protected]>

* requirement is delay, not bandwidth.

Signed-off-by: Tomoya.Fujita <[email protected]>

* add test for DirectNode Class.

Signed-off-by: Tomoya.Fujita <[email protected]>

Author: fujitatomoya

ros2cli/ros2cli/node/direct.py

@@ -17,6 +17,7 @@
 import rclpy
 import rclpy.action
 
+from rclpy.parameter import Parameter
 from ros2cli.node import NODE_NAME_PREFIX
 DEFAULT_TIMEOUT = 0.5
 
@@ -38,13 +39,18 @@ def timer_callback():
             args, 'node_name_suffix', '_%d' % os.getpid())
         start_parameter_services = getattr(
             args, 'start_parameter_services', False)
+        use_sim_time = getattr(args, 'use_sim_time', False)
 
         if node_name is None:
             node_name = NODE_NAME_PREFIX + node_name_suffix
 
         self.node = rclpy.create_node(
             node_name,
-            start_parameter_services=start_parameter_services)
+            start_parameter_services=start_parameter_services,
+            parameter_overrides=[
+                Parameter('use_sim_time', value=use_sim_time)
+            ])
+
         timeout = getattr(args, 'spin_time', DEFAULT_TIMEOUT)
         timer = self.node.create_timer(timeout, timer_callback)
 
@@ -86,3 +92,6 @@ def add_arguments(parser):
         '--spin-time', type=float, default=DEFAULT_TIMEOUT,
         help='Spin time in seconds to wait for discovery (only applies when '
              'not using an already running daemon)')
+    parser.add_argument(
+        '-s', '--use-sim-time', action='store_true',
+        help='Enable ROS simulation time')

ros2cli/test/test_direct.py

@@ -0,0 +1,63 @@
+# Copyright 2020 Sony Corporation.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+
+import pytest
+
+from ros2cli.node.direct import add_arguments as add_direct_node_arguments
+from ros2cli.node.direct import DEFAULT_TIMEOUT
+from ros2cli.node.direct import DirectNode
+
+TEST_NODE_NAME = 'test_node'
+
+
+@pytest.fixture(scope='function')
+def test_arguments_parser():
+    parser = argparse.ArgumentParser()
+    add_direct_node_arguments(parser)
+    return parser
+
+
+def test_default_arguments(test_arguments_parser):
+    args = test_arguments_parser.parse_args()
+    assert not args.use_sim_time
+    assert DEFAULT_TIMEOUT == args.spin_time
+
+
+def test_use_sim_time_arguments(test_arguments_parser):
+    args = test_arguments_parser.parse_args(['--use-sim-time'])
+    assert args.use_sim_time
+    assert DEFAULT_TIMEOUT == args.spin_time
+
+
+def test_spin_time_arguments(test_arguments_parser):
+    args = test_arguments_parser.parse_args(['--spin-time', '10.0'])
+    assert not args.use_sim_time
+    assert 10.0 == args.spin_time
+
+
+def test_use_sim_time_parameter():
+    with DirectNode(args=[], node_name=TEST_NODE_NAME) as direct_node:
+        assert not direct_node.node.get_parameter('use_sim_time').value
+
+    args = argparse.Namespace(use_sim_time=False)
+    with DirectNode(args, node_name=TEST_NODE_NAME) as direct_node:
+        assert not direct_node.node.get_parameter('use_sim_time').value
+
+    # TODO(fujitatomoya): enable this test once /clock callback thread is insulated.
+    #                     see https://github.com/ros2/rclcpp/issues/1542
+    # args = argparse.Namespace(use_sim_time=True)
+    # with DirectNode(args, node_name=TEST_NODE_NAME) as direct_node:
+    #     assert direct_node.node.get_parameter('use_sim_time').value

ros2topic/ros2topic/verb/delay.py

@@ -40,6 +40,7 @@
 
 from rclpy.qos import qos_profile_sensor_data
 from rclpy.time import Time
+from ros2cli.node.direct import add_arguments as add_direct_node_arguments
 from ros2cli.node.direct import DirectNode
 from ros2topic.api import get_msg_class
 from ros2topic.api import TopicNameCompleter
@@ -71,6 +72,7 @@ def add_arguments(self, parser, cli_name):
             '--window', '-w', type=positive_int, default=DEFAULT_WINDOW_SIZE,
             help='window size, in # of messages, for calculating rate, '
                  'string to (default: %d)' % DEFAULT_WINDOW_SIZE)
+        add_direct_node_arguments(parser)
 
     def main(self, *, args):
         return main(args)