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@pitosalas
Created February 8, 2023 16:44
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#!/usr/bin/env python
import rospy
import sys
import signal
import threading
import random
import time
from rosgraph_msgs.msg import Clock
from nav_msgs.msg import Odometry
global_flag = 0
x = 0
def kill_time(power):
dumb_array = [random.randint(1,1000) for x in range(10**power)].sort
def xodom_cb(msg):
global global_flag
local_flag = global_flag+1
# kill_time(1)
time.sleep(0.2)
print(f'odom_cb: L/G Flag: {local_flag}/{global_flag}, thread: {threading.get_ident()}')
global_flag = local_flag-1
time.sleep(0.2)
# kill_time(1)
def xclock_cb(msg):
global global_flag
local_flag = global_flag+1
time.sleep(1.0)
# kill_time(6)
print(f'clockcb: L/G Flag: {local_flag}/{global_flag}, thread: {threading.get_ident()}')
global_flag = local_flag-1
time.sleep(1.0)
# kill_time(1)
def clock_cb(msg):
global x
for i in range(1000000):
x += 1
for i in range(1000000):
x -= 1
print(f'clockcb: x: {x}, thread: {threading.get_ident()}')
def odom_cb(msg):
global x
for i in range(1000000):
x += 1
for i in range(1000000):
x -= 1
print(f'odom_cb: x: {x}, thread: {threading.get_ident()}')
# Initialize this program as a node
rospy.init_node('mini_odom_demo')
odom_sub = rospy.Subscriber('/odom', Odometry, odom_cb)
#clock_sub = rospy.Subscriber('/clock', Clock, clock_cb)
rospy.spin()
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