rclcpp::TimeSource Class Reference

#include <rclcpp/time_source.hpp>

Classes
class	NodeState

Public Member Functions
RCLCPP_PUBLIC	TimeSource (rclcpp::Node::SharedPtr node, const rclcpp::QoS &qos=rclcpp::ClockQoS(), bool use_clock_thread=true)
	Constructor. More...
RCLCPP_PUBLIC	TimeSource (const rclcpp::QoS &qos=rclcpp::ClockQoS(), bool use_clock_thread=true)
	Empty constructor. More...
	TimeSource (const TimeSource &)=delete
TimeSource &	operator= (const TimeSource &)=delete
	TimeSource (TimeSource &&)=default
TimeSource &	operator= (TimeSource &&)=default
RCLCPP_PUBLIC void	attachNode (rclcpp::Node::SharedPtr node)
	Attach node to the time source. More...
RCLCPP_PUBLIC 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)
	Attach node to the time source. More...
RCLCPP_PUBLIC void	detachNode ()
	Detach the node from the time source.
RCLCPP_PUBLIC void	attachClock (rclcpp::Clock::SharedPtr clock)
	Attach a clock to the time source to be updated. More...
RCLCPP_PUBLIC void	detachClock (rclcpp::Clock::SharedPtr clock)
	Detach a clock from the time source.
RCLCPP_PUBLIC bool	get_use_clock_thread ()
	Get whether a separate clock thread is used or not.
RCLCPP_PUBLIC void	set_use_clock_thread (bool use_clock_thread)
	Set whether to use a separate clock thread or not.
RCLCPP_PUBLIC bool	clock_thread_is_joinable ()
	Check if the clock thread is joinable.
RCLCPP_PUBLIC	~TimeSource ()
	TimeSource Destructor.

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

Definition at line 50 of file time_source.hpp.

Constructor & Destructor Documentation

TimeSource() [1/2]

RCLCPP_PUBLIC 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.
use_clock_thread	whether to spin the attached node in a separate thread

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.
use_clock_thread	whether to spin the attached node in a separate thread.

Definition at line 476 of file time_source.cpp.

Member Function Documentation

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

Definition at line 525 of file time_source.cpp.

attachNode() [1/2]

void rclcpp::TimeSource::attachNode

(

rclcpp::Node::SharedPtr

node

)

Attach node to the time source.

Parameters

node	std::shared pointer to a initialized node

Definition at line 485 of file time_source.cpp.

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
	)

Attach 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.

Definition at line 498 of file time_source.cpp.

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

• rclcpp/include/rclcpp/time_source.hpp
• rclcpp/src/rclcpp/time_source.cpp