nav2_loopback_sim::ClockPublisher Class Reference

Publishes simulated clock to /clock using wall time. Uses wall timers so that it works correctly even when owned by a node with use_sim_time=true. Supports speed_factor to run sim time faster or slower than real time. More...

#include <nav2_loopback_sim/include/nav2_loopback_sim/clock_publisher.hpp>

Public Member Functions
	ClockPublisher (nav2::LifecycleNode::WeakPtr node, double speed_factor=1.0)
	Construct a ClockPublisher. More...
void	start ()
	Start publishing /clock.
void	stop ()
	Stop publishing /clock.
void	setSpeedFactor (double speed_factor)
	Update the simulation speed factor. More...

Protected Member Functions
void	timerCallback ()
	Wall-timer callback that advances sim time and publishes /clock.
void	resetTimer ()
	(Re)create the wall timer based on current speed_factor

Protected Attributes
nav2::LifecycleNode::WeakPtr	node_
rclcpp::Logger	logger_
rclcpp::Publisher< rosgraph_msgs::msg::Clock >::SharedPtr	clock_pub_
rclcpp::TimerBase::SharedPtr	timer_
double	speed_factor_
rclcpp::Time	sim_time_
std::chrono::steady_clock::time_point	last_wall_time_

Static Protected Attributes
static constexpr double	kResolution = 0.01
static constexpr double	kMinWallPeriod = 0.001

Detailed Description

Publishes simulated clock to /clock using wall time. Uses wall timers so that it works correctly even when owned by a node with use_sim_time=true. Supports speed_factor to run sim time faster or slower than real time.

Definition at line 35 of file clock_publisher.hpp.

Constructor & Destructor Documentation

ClockPublisher()

nav2_loopback_sim::ClockPublisher::ClockPublisher	(	nav2::LifecycleNode::WeakPtr	node,
		double	speed_factor = 1.0
	)

Construct a ClockPublisher.

Parameters

node	Weak pointer to the owning lifecycle node
speed_factor	Sim-time speed relative to wall time

Definition at line 25 of file clock_publisher.cpp.

Member Function Documentation

setSpeedFactor()

void nav2_loopback_sim::ClockPublisher::setSpeedFactor

(

double

speed_factor

)

Update the simulation speed factor.

Parameters

speed_factor

New speed multiplier (must be positive)

Definition at line 61 of file clock_publisher.cpp.

References resetTimer().

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

• nav2_loopback_sim/include/nav2_loopback_sim/clock_publisher.hpp
• nav2_loopback_sim/src/clock_publisher.cpp