timer_ = this->create_wall_timer( 1000ms, std::bind(&ParametersClass::respond, this)); } 函数respond的首行从节点获取参数my_parameter,并将其存储在parameter_string_变量中。 RCLCPP_INFO函数会确保消息被记录。 void respond() { this->get_parameter("my_parameter", parameter_string_); RCLCPP_INFO...
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...
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(...
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...
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_++); ...
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...
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)); ...
timer_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback, this)); } private: void timer_callback() { auto message = ars548_interface::msg::Num(); // CHANGE message.num = this->count_++; // CHANGE ...
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( 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; ...