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(ros::time-now)を用いて一定時間ごとに文章をプリントするプログラム #625

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k-okada opened this issue Nov 26, 2019 · 1 comment

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k-okada commented Nov 26, 2019

周期的な処理を行うため、ros::time-nowを利用し、一定時間ごとに文章をプリントするコードを書きたかったのですが、エラーが出てしまいました

どのようにすれば想定どおり動くでしょうか。

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k-okada commented Nov 26, 2019 •

edited

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たとえば以下の例はどうでしょうか

(ros::roseus "test")

(setq termstart (ros::time-now))
(do-until-key
 (setq curtime (ros::time-now))
 (if (ros::time>= (ros::time- curtime termstart) (ros::time 5.0))
     (progn
       (format t "elapsed ~A sec ~%" (send (ros::time- curtime termstart) :to-sec))
       (setq termstart curtime))
   ))

あるいは

(ros::roseus "test")

(setq timestart (ros::time-now))
(do-until-key
 (when (> (send (ros::time- (ros::time-now) timestart) :to-sec) 3)
   (format t "elapsed ~A sec ~%" (send (ros::time- (ros::time-now) timestart) :to-sec))
   (setq timestart (ros::time-now))
   ))

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