publisher_ = this->create_publisher<rosgraph_msgs::msg::Clock>("/clock", 10); timer_ = this->create_wall_timer( 10ms, std::bind(&ClockPublisher::timer_callback, this)); } private: void timer_callback() { message_.clock.nanosec += 10000000; if(message_.clock.nanosec >= 100000000...
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(1s, publish_msg); }private: rclcpp::Publisher<more_interfaces::msg::AddressBook>::SharedPtr address_book_publisher_; rclcpp::TimerBase::SharedPtr timer_; };intmain(intargc,char* argv[]){ rclcpp::init(argc, argv); rclcpp::spin(std::make_shared<AddressBook...
publisher_ =this->create_publisher<std_msgs::msg::String>("topic",10); timer_ =this->create_wall_timer(500ms, std::bind(&MinimalPublisher::timer_callback,this)); }private:voidtimer_callback(){automessage = std_msgs::msg::String(); message.data ="Hello, world! "+ std::to_string(...
在ROS2中,可以通过使用Timer类来实现定时函数的功能。Timer类可以在指定的时间间隔内循环执行某个函数,常用于周期性地发送消息或执行一些任务。 要使用Timer类,可以按照以下步骤操作: 1. 创建一个Timer对象 ```cpp rclcpp::TimerBase::SharedPtr timer; timer = node->create_wall_timer(std::chrono::milliseconds...
timer_=this->create_wall_timer(1s, publish_msg); } private: rclcpp::Publisher<rosidl_tutorials::msg::AddressBook>::SharedPtr address_book_publisher_; rclcpp::timer::TimerBase::SharedPtr timer_; }; intmain(intargc,char*argv[]) {
timer_ = this->create_wall_timer( 1s, std::bind(&ManagedScan::publish, this)); RCLCPP_INFO(get_logger(), "on_configure() is called."); return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; }
timer_ = this->create_wall_timer(1s, publish_msg); 1. 创建一个1秒的计时器,每秒调用publish_msg函数。 3.2编译发布者 需要在CMakeLists.txt中添加: find_package(rclcpp REQUIRED) add_executable(publish_address_book src/publish_address_book.cpp ...
timer_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback, this)); } private: void timer_callback() { auto message = std_msgs::msg::String(); message.data = "Hello, world! " + std::to_string(count_++); ...
timer_ = this->create_wall_timer( std::chrono::seconds(1), std::bind(&PLCROS2Node::read_data, this)); } catch (const std::exception &e) { RCLCPP_ERROR(this->get_logger(), "Failed to connect to PLC: %s", e.what()); } }private: void read_data() { try { // 从PLC...