using namespace std::literals::chrono_literals; timer_ = this->create_wall_timer( 500ms, std::bind(&ParametersBasicNode::timer_callback, this)); } private: int log_level; rclcpp::TimerBase::SharedPtr timer_; void timer_callback() { this->get_parameter("rcl_log_level", log_level);...
timer_ = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&ExampleInterfacesRobot::timer_callback, this)); } private: Robot robot; /*实例化机器人*/ rclcpp::TimerBase::SharedPtr timer_; /*定时器,用于定时发布机器人位置*/ rclcpp::Service<example_ros2_interfaces::srv::Mo...
using namespace std::literals::chrono_literals; timer_ = this->create_wall_timer( 500ms, std::bind(&ParametersBasicNode::timer_callback, this)); } private: int log_level; rclcpp::TimerBase::SharedPtr timer_; void timer_callback() { this->get_parameter("rcl_log_level", log_level);...
options) {// 创建发布者,发布在"topic_name"主题上publisher_ =this->create_publisher<std_msgs::msg::String>("topic_name",10);// 创建定时器,每秒调用一次timer_callbacktimer_ =this->create_wall_timer(std::chrono::...
#include <rclcpp/rclcpp.hpp> #include <std_msgs/msg/string.hpp> class Talker : public rclcpp::Node { public: Talker() : Node("talker") { publisher_ = this->create_publisher<std_msgs::msg::String>("chatter", 10); timer_ = this->create_wall_timer( std...
定时器对应的类是rclcpp::TimerBase,调用create_wall_timer将返回其共享指针。 创建定时器时传入了两个参数,这两个参数都利用了C++11的新特性。 std::chrono::milliseconds(500),代表500ms,chrono是c++ 11中的时间库,提供计时,时钟等功能。 std::bind(&TopicPublisher01::timer_callback, this),bind() 函数的...
>create_publisher<std_msgs::msg::String>("topic_name", 10); // 创建定时器,每秒调用一次timer_callback timer_ = this->create_wall_timer( std::chrono::seconds(1), [this]() { this->timer_callback(); }); } private: // 定时器回调函数,用于发布消息 void timer_callback() { auto ...