Added time module and TimeNow Node

ros_bt_py/ros_bt_py/ros_nodes/__init__.py

@@ -34,4 +34,5 @@
 from . import param
 from . import subtree
 from . import throttle
+from . import time
 from . import topic

ros_bt_py/ros_bt_py/ros_nodes/time.py

@@ -0,0 +1,62 @@
+# Copyright 2023 FZI Forschungszentrum Informatik
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the FZI Forschungszentrum Informatik nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from ros_bt_py_interfaces.msg import Node as NodeMsg
+from builtin_interfaces.msg import Time
+
+from ros_bt_py.node import define_bt_node, Leaf
+from ros_bt_py.node_config import NodeConfig
+
+
+@define_bt_node(
+    NodeConfig(
+        version="0.1.0",
+        options={},
+        inputs={},
+        outputs={"current_time": Time},
+        max_children=0,
+    )
+)
+class GetTimeNow(Leaf):
+    """Output current time stamp."""
+
+    def _do_setup(self):
+        pass
+
+    def _do_tick(self):
+        current_time = self.ros_node.get_clock().now()
+        self.outputs["current_time"] = current_time.to_msg()
+        return NodeMsg.SUCCEEDED
+
+    def _do_shutdown(self):
+        pass
+
+    def _do_reset(self):
+        return NodeMsg.IDLE
+
+    def _do_untick(self):
+        return NodeMsg.IDLE