seconds(), future_time.nanoseconds()); rclcpp::shutdown(); return 0; } 处理rclcpp::time中的时间同步问题 在ROS 2中,时间同步是一个复杂的问题,特别是在分布式系统中。为了处理时间同步,ROS 2提供了一些机制,如使用NTP(网络时间协议)来同步系统时钟,以及使用ROS 2的时间同步工具(如ros2_clock)来确保...
1.3函数原型 template<typenameRepT=int64_t,typenameRatioT=std::milli>bool rclcpp::ClientBase::wait_for_service ( std::chrono::duration< RepT, RatioT > timeout = std::chrono::duration<RepT,RatioT>(-1) ) 1. 2. 参数只有一个,而且有默认值,这个参数表示等待的超时时间。 二、使用方法 2.1 等待...
the callback registered in the constructor would be the last one to be called relative to the lifetime of the node (i.e., any references to the node would be obtained by the user after the constructor). If the shutdown callback handles the shutdown transition on rclcpp::shutdown, and ...
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...
seconds(1)) == std::future_status::timeout) { RCLCPP_ERROR_STREAM(get_logger(), "Timed out waiting for goal response callback"); return false; } auto gh = fut.get(); auto res_fut = fib_client_->async_get_result(gh); if (res_fut.wait_for(std::chrono::seconds(ORDER + 1))...