rclcpp::TimeSource Class Reference

#include <time_source.hpp>

Collaboration diagram for rclcpp::TimeSource:

Public Member Functions
	TimeSource (rclcpp::Node::SharedPtr node, const rclcpp::QoS &qos=rclcpp::ClockQoS(), bool use_clock_thread=true)
	Constructor. More...
	TimeSource (const rclcpp::QoS &qos=rclcpp::ClockQoS(), bool use_clock_thread=true)
	Empty constructor. More...
void	attachNode (rclcpp::Node::SharedPtr node)
	Attack node to the time source. More...
void	attachNode (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface, rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface, rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_interface)
	Attack node to the time source. More...
void	detachNode ()
	Detach the node from the time source. More...
void	attachClock (rclcpp::Clock::SharedPtr clock)
	Attach a clock to the time source to be updated. More...
void	detachClock (rclcpp::Clock::SharedPtr clock)
	Detach a clock to the time source. More...
	~TimeSource ()
	TimeSource Destructor. More...

Protected Attributes
bool	use_clock_thread_
std::thread	clock_executor_thread_

Detailed Description

Time source that will drive the attached clocks.

If the attached node use_sim_time parameter is true, the attached clocks will be updated based on messages received.

The subscription to the clock topic created by the time source can have it's qos reconfigured using parameter overrides, particularly the following ones are accepted:

• qos_overrides./clock.depth
• qos_overrides./clock.durability
• qos_overrides./clock.history
• qos_overrides./clock.reliability

Constructor & Destructor Documentation

TimeSource() [1/2]

rclcpp::TimeSource::TimeSource ( rclcpp::Node::SharedPtr  node, const rclcpp::QoS &  qos = rclcpp::ClockQoS(), bool  use_clock_thread = true  )

explicit

Constructor.

The node will be attached to the time source.

Parameters

node	std::shared pointer to a initialized node
qos	QoS that will be used when creating a /clock subscription.

TimeSource() [2/2]

rclcpp::TimeSource::TimeSource ( const rclcpp::QoS &  qos = rclcpp::ClockQoS(), bool  use_clock_thread = true  )

explicit

Empty constructor.

An Empty TimeSource class

Parameters

qos	QoS that will be used when creating a /clock subscription.

~TimeSource()

rclcpp::TimeSource::~TimeSource

(

)

TimeSource Destructor.

Member Function Documentation

attachNode() [1/2]

void rclcpp::TimeSource::attachNode

(

rclcpp::Node::SharedPtr

node

)

Attack node to the time source.

Parameters

node	std::shared pointer to a initialized node

attachNode() [2/2]

void rclcpp::TimeSource::attachNode	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_base_interface,
		rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr	node_topics_interface,
		rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	node_graph_interface,
		rclcpp::node_interfaces::NodeServicesInterface::SharedPtr	node_services_interface,
		rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	node_logging_interface,
		rclcpp::node_interfaces::NodeClockInterface::SharedPtr	node_clock_interface,
		rclcpp::node_interfaces::NodeParametersInterface::SharedPtr	node_parameters_interface
	)

Attack node to the time source.

If the parameter use_sim_time is true then the source time is the simulation time, otherwise the source time is defined by the system.

Parameters

node_base_interface	Node base interface.
node_topics_interface	Node topic base interface.
node_graph_interface	Node graph interface.
node_services_interface	Node service interface.
node_logging_interface	Node logging interface.
node_clock_interface	Node clock interface.
node_parameters_interface	Node parameters interface.

detachNode()

void rclcpp::TimeSource::detachNode

(

)

Detach the node from the time source.

attachClock()

void rclcpp::TimeSource::attachClock

(

rclcpp::Clock::SharedPtr

clock

)

Attach a clock to the time source to be updated.

Parameters

[in]

clock

to attach to the time source

Exceptions

std::invalid_argument

the time source must be a RCL_ROS_TIME otherwise throws an exception

detachClock()

void rclcpp::TimeSource::detachClock

(

rclcpp::Clock::SharedPtr

clock

)

Detach a clock to the time source.

Member Data Documentation

use_clock_thread_

bool rclcpp::TimeSource::use_clock_thread_

protected

clock_executor_thread_

std::thread rclcpp::TimeSource::clock_executor_thread_

protected

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The documentation for this class was generated from the following file:

• include/rclcpp/time_source.hpp