the Robot Construction Kit

Periodic Triggering

This is the most simple triggering method. When a task is declared periodic, the task context’s updateHook() method will be called with a fixed time period.


To do this, simply add the periodic(period) statement to the task declaration in your deployments:

deployment "example" do

The period is given in seconds. Deploying with a periodic triggering disables port-based triggers as well as fd-based triggers

C++ task implementation

This triggering mechanism does not require any specific change to the C++ task implementation.

Nonetheless, if a periodic activity is used, then TaskContext::getPeriod() will return the period in seconds.