Robot_control_class for ros2

Hi, have some questions about how to translate the rc_class you guys made for the python3 tutorial etc to ROS2 (foxy).

Specifically my question is about the timer and self.rate.sleep
Because this is imported from rospy but in ros2 rclpy is being used as far as I understand. But I can’t seem to translate the functionality directly. Any tips? Or do you have an already working rc_class for ros2?

Best regards,

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