A simple ROS Rate implementation with pure Python. The Rate class provides a convenient way to control the rate at which a process loops and sleeps based on a specified frequency.
from rate import Raterate = Rate(hz)- Parameters:
- hz (int): Frequency in hertz (cycles per second) at which to perform actions.
remaining()
remaining_time = rate.remaining()- Returns the time remaining until the next iteration should occur based on the specified rate.
sleep()
rate.sleep()- Executes a sleep operation to maintain the specified rate. Adjusts dynamically to account for time elapsed since the last iteration.
You can customize the behavior of the Rate class by providing alternative time functions and sleep functions during initialization:
rate = Rate(hz, timefun=my_custom_time_function, sleepfun=my_custom_sleep_function)from rate import Rate
import time
rate = Rate(10) # Executes at 10 Hz
while True:
# Perform actions at the desired rate
# ...
# Sleep to maintain the rate
rate.sleep()