rclcpp::TimeSource Class Reference

#include <time_source.hpp>

Public Member Functions
	TimeSource (rclcpp::Node::SharedPtr node)
	Constructor. More...
	TimeSource ()
	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...

Constructor & Destructor Documentation

TimeSource() [1/2]

rclcpp::TimeSource::TimeSource ( rclcpp::Node::SharedPtr  node )

explicit

Constructor.

The node will be attached to the time source.

Parameters

node	std::shared pointer to a initialized node

TimeSource() [2/2]

rclcpp::TimeSource::TimeSource

(

)

Empty constructor.

An Empty TimeSource class

~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.

---

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

• include/rclcpp/time_source.hpp