FaulknerWu
1429442dbd
- Rename customs-tablet-frontend/ to public-frontend/ for broader scope - Add new pages: customs, inspection with camera integration - Add new services: apiClient.ts, backendApi.ts, normalizers.ts - Add CameraFrame component for real-time video streaming - Add scan_fixer module with clock_publisher and timestamp fix utilities - Update startup scripts to support new frontend structure - Update arm_server configuration and service files Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
69 lines
1.9 KiB
Python
69 lines
1.9 KiB
Python
#!/usr/bin/env python3
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"""系统时钟发布器。
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向 /clock 持续发布系统时间，配合 Nav2 的 use_sim_time 配置，避免 AGV
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节点、雷达节点和导航栈之间出现时间源不一致。
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"""
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import os
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import sys
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import rclpy
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from rclpy.node import Node
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from rosgraph_msgs.msg import Clock
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LOCKFILE = "/tmp/clock_publisher.lock"
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PUBLISH_INTERVAL_SECONDS = 0.01
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LOG_INTERVAL_COUNT = 1000
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def ensure_single_instance(lockfile: str) -> None:
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if os.path.exists(lockfile):
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with open(lockfile) as f:
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old_pid = int(f.read().strip())
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try:
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os.kill(old_pid, 0)
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print(f"Another clock_publisher running PID {old_pid}, exit.", file=sys.stderr)
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sys.exit(1)
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except (OSError, ProcessLookupError):
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print(f"Stale lock removed (PID {old_pid} dead)", file=sys.stderr)
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with open(lockfile, "w") as f:
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f.write(str(os.getpid()))
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class SystemClockPublisher(Node):
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def __init__(self):
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super().__init__("system_clock_publisher")
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self.publisher = self.create_publisher(Clock, "/clock", 10)
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self.timer = self.create_timer(PUBLISH_INTERVAL_SECONDS, self.publish_clock)
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self.count = 0
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self.get_logger().info(f"Clock publisher PID={os.getpid()}, publishing at 100Hz")
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def publish_clock(self):
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message = Clock()
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message.clock = self.get_clock().now().to_msg()
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self.publisher.publish(message)
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self.count += 1
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if self.count % LOG_INTERVAL_COUNT == 0:
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self.get_logger().info(f"Published {self.count} clock messages")
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def main():
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ensure_single_instance(LOCKFILE)
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rclpy.init(args=sys.argv[1:])
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node = SystemClockPublisher()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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node.destroy_node()
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rclpy.shutdown()
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if os.path.exists(LOCKFILE):
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os.remove(LOCKFILE)
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if __name__ == "__main__":
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main()
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