nav2::Rate Class Reference

A sim-time-aware rate for Nav2 loops. More...

#include <nav2_ros_common/include/nav2_ros_common/rate.hpp>

Inheritance diagram for nav2::Rate:

Collaboration diagram for nav2::Rate:

Public Member Functions
template<typename NodeT >
	Rate (NodeT node, double rate)
	Construct a Rate from a node and frequency. More...

Detailed Description

A sim-time-aware rate for Nav2 loops.

When use_sim_time is true, the rate is governed by the node's ROS clock (simulation time). When use_sim_time is false, a steady (monotonic) clock is used to avoid issues with system clock jumps (e.g. NTP corrections).

Definition at line 60 of file rate.hpp.

Constructor & Destructor Documentation

Rate()

template<typename NodeT >

nav2::Rate::Rate ( NodeT  node, double  rate  )

inlineexplicit

Construct a Rate from a node and frequency.

Parameters

node	Any ROS node pointer or shared_ptr (used to check use_sim_time and obtain clock)
rate	Desired frequency in Hz

Definition at line 69 of file rate.hpp.

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

• nav2_ros_common/include/nav2_ros_common/rate.hpp