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);...
robot_status_publisher_ = this->create_publisher<example_ros2_interfaces::msg::RobotStatus>("robot_status", 10); /*创建一个周期为500ms的定时器*/ timer_ = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&ExampleInterfacesRobot::timer_callback, this)); } private: Robot...
pub_ = this->create_publisher<std_msgs::msg::String>("managed_scan", 10); 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::Callba...
}; timer_ = this->create_wall_timer(1s, publish_msg); } private: rclcpp::Publisher<more_interfaces::msg::AddressBook>::SharedPtr address_book_publisher_; rclcpp::TimerBase::SharedPtr timer_; }; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::spin(std::make...
timer_ =this->create_wall_timer( 1000ms, std::bind(&ParametersClass::respond,this)); } respond函数的第一行从节点获取参数my_parameter,并将其存储在parameter_string_中,RCLCPP_INFO函数确保该消息被记录。 voidrespond(){this->get_parameter("my_parameter", parameter_string_); ...
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...
rclcpp::Node::create_client() rclcpp::Client rclcpp/client.hpp Service Server rclcpp::Node::create_service() rclcpp::Service rclcpp/service.hpp Timer rclcpp::Node::create_wall_timer() rclcpp::WallTimer rclcpp::TimerBase rclcpp/timer.hpp Parameters: rclcpp::Node::set_parameters() rclcpp::Node...
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); ...
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( 100ms, std::bind(&FixedFrameBroadcaster::broadcast_timer_callback, this)); } private: void broadcast_timer_callback() { rclcpp::Time now = this->get_clock()->now(); geometry_msgs::msg::TransformStamped t; ...