frequency control using rate support

Author: AshishRamesh

manager/manager/lint/linter.py

@@ -63,16 +63,16 @@ def evaluate_code(self, code, ros_version, warnings=False, py_lint_source="pylin
                 r'[^ ]while\s*True\s*:|'
                 r'[^ ]while\s*1\s*:|'
                 r'[^ ]while\s*\(\s*1\s*\)\s*:|'
-                r'rclpy\.spin\(\s*\w+\s*\)|'
-                r'rclpy\.spin_once\(\s*\w+\s*.*?\)'
+                r'rclpy\.spin_once\(\s*\w+\s*.*?\)|'
+                r'\.create_rate\(\s*[\w.]+\s*\)' 
 
             )
             loop_match = re.search(loop_regex, code)
 
             if loop_match is None:
-                return "ERROR: No event loop found. Add 'while True:', 'rclpy.spin(node)', or 'rclpy.spin_once(node)'"
+                return "ERROR: No event loop found. Add 'while True:', 'rclpy.spin(node)', or 'rclpy.spin_once(node)' or use 'rclpy.Rate()'"
 
-            if "rclpy.spin" in loop_match.group() or "rclpy.spin_once" in loop_match.group():
+            if "rclpy.spin" in loop_match.group() or "rclpy.spin_once" in loop_match.group() or ".create_rate" in loop_match.group():
                 # Keep the code as-is; don't modify it
                 pass
             else: