[ontopy] compat spin_once method

sarthou · Jan 23, 2024 · 6950519 · 6950519
1 parent 1a553b6
commit 6950519
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/ontopy/ontologenius/compat/ros.py b/ontopy/ontologenius/compat/ros.py
@@ -1,4 +1,5 @@
 import os
+import time
 from ontologenius.msg import OntologeniusTimestamp
 
 if os.environ["ROS_VERSION"] == "1":
@@ -72,6 +73,9 @@ def getRosTime():
         def isShutdown():
             return rospy.is_shutdown()
 
+        def spin_once():
+            time.sleep(0.01)
+
 elif os.environ["ROS_VERSION"] == "2":
 
     import rclpy
@@ -144,7 +148,7 @@ def publish(self, msg):
             self.pub.publish(msg)
 
         def getNumSubscribers(self):
-            self.pub.get_num_connections()
+            self.pub.get_subscription_count()
 
 
     class OntoSubscriber:
@@ -184,3 +188,7 @@ def getRosTime() -> Time:
         @staticmethod
         def isShutdown() -> bool:
             return not rclpy.ok()
+
+        @staticmethod
+        def spin_once():
+            rclpy.spin_once(Ontoros(), timeout_sec=0.01)