rclcpp::time在ROS2中的作用 rclcpp::time是ROS 2中的一个核心类,用于表示和处理时间。在ROS 2中,时间是一个重要的概念,特别是在节点间的通信、时间同步、任务调度等方面。rclcpp::time提供了获取当前时间、创建特定时间、进行时间运算等功能,是ROS 2中处理时间的基础。 rclcpp::time的主要组成部分或类 rclcpp:...
3.6.2 Time 1.rclcpp 中的 Time 示例:创建 Time 对象,并调用其函数。 2.rclpy 中的 Time 示例:创建 Time 对象,并调用其函数。 3.6.3 Duration 1.rclcpp 中的 Duration 示例:创建 Duration 对象,并调用其函数。 2.rclpy 中的 Duration 示例:创建 Duration 对象,并调用其函数。 3.6.4 Time 与 Duration 运...
zenoh::net::runtime: Using ZID: 34ff9d359f927068ddc0823afc0426c062: 2024-11-18T16:43:52.132729Z INFO ThreadId(02) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[::1]:4094362: [INFO] [1731948232.637247260] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router w...
autoclock= std::make_shared<rclcpp::Clock>(RCL_ROS_TIME); rclcpp::TimeSource time_source; time_source.attachNode(node); time_source.attachClock(clock); NodeState will create a thread (new executor) to run a subscriber to receive clock message. ...
通过这些interface的名称就可以看出来每个interface实现的功能,比如node_base_,node_graph_就是基本的节点,node_logging_就是日志输出功能,node_timers_就是定时器功能,node_topics_和node_services_就是ROS2最重要的topic和service能力,node_clock_和node_time_source_是时间访问能力,node_parameters_就是参数服务能力...
等待服务连接; while not cli_get.wait_for_service(timeout_sec=1.0): self.get_logger().info('列出参数服务连接中,请稍候...') req = GetParameters.Request() req.names = names future = cli_get.call_async(req) rclpy.spin_until_future_complete(self,future) return future.result() def set_...
Compiles but in runtime exits due to an exception. Full output:terminate called after throwing an instance of 'rclcpp::ParameterTypeException' what(): expected [string] got [not set] Aborted (core dumped) Additional informationThis call fails:mynode.declare_parameter<std::string>("myparam");...
Bug report Required Info: Operating System: Ubuntu Installation type: N/A Version or commit hash: Main DDS implementation: N/A Client library (if applicable): rclcpp Feature request Feature description Add a sleep() method to Duration an...
)defplan_and_execute(robot,planning_component,logger,single_plan_parameters=None,multi_plan_parameters=None,sleep_time=0.0, ):"""Helper function to plan and execute a motion."""# plan to goallogger.info("Planning trajectory")ifmulti_plan_parametersisnotNone:plan_result=planning_component.plan(...
std::runtime_error); EXPECT_THROW( rclcpp::get_service_typesupport_handle(invalid_type, "rosidl_typesupport_cpp", *library), std::runtime_error); // service invalid_type = "test_msgs/srv/InvalidType"; library = rclcpp::get_typesupport_library(invalid_type, "rosidl_typesupport_cpp"); ...