node_clock.cpp

// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include "rclcpp/node_interfaces/node_clock.hpp"
 
#include <memory>
#include <string>
 
using rclcpp::node_interfaces::NodeClock;
 
NodeClock::NodeClock(
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging)
: node_base_(node_base),
  node_topics_(node_topics),
  node_graph_(node_graph),
  node_services_(node_services),
  node_logging_(node_logging),
  ros_clock_(std::make_shared<rclcpp::Clock>(RCL_ROS_TIME))
{}
 
NodeClock::~NodeClock()
{}
 
rclcpp::Clock::SharedPtr
NodeClock::get_clock()
{
  return ros_clock_;
}
 
rclcpp::Clock::ConstSharedPtr
NodeClock::get_clock() const
{
  return ros_clock_;
}