rate.hpp

// Copyright (c) 2026 Dexory
//
// 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.
 
#ifndef NAV2_ROS_COMMON__RATE_HPP_
#define NAV2_ROS_COMMON__RATE_HPP_
 
#include <chrono>
#include <functional>
#include <memory>
#include <utility>
 
#include "rclcpp/rate.hpp"
#include "rclcpp/create_timer.hpp"
 
namespace nav2
{
 
template<typename NodeT>
rclcpp::Clock::SharedPtr selectSteadyOrSimClock(NodeT node)
{
  bool use_sim_time = false;
  auto params = node->get_node_parameters_interface();
  if (params->has_parameter("use_sim_time")) {
    use_sim_time = params->get_parameter("use_sim_time").as_bool();
  }
  if (use_sim_time) {
    return node->get_clock();
  }
  return std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME);
}
 
class Rate : public rclcpp::Rate
{
public:
  template<typename NodeT>
  explicit Rate(NodeT node, double rate)
  : rclcpp::Rate(rate, selectSteadyOrSimClock(node))
  {}
};
 
}  // namespace nav2
 
#endif  // NAV2_ROS_COMMON__RATE_HPP_