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( 1s, std::bind(&FrameListener::on_timer, this)); } 回调函数on_timer()具体负责执行turtle1、turtle2两个坐标系之间的坐标变换,并据此向turtle2发布速度指令以对turtle1进行跟随。在该函数中,首先获取要进行坐标变换的两个坐标系(这里为turtle2坐标系和target_frame设定的...
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...
publisher_ = this->create_publisher<tutorial_interfaces::msg::Num>("topic", 10); // CHANGE timer_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback, this)); } private: void timer_callback() { auto message = tutorial_interfaces::msg::Num(); // CHANGE ...
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_); ...
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)); ...
rclcpp::Node::create_wall_timer() rclcpp::WallTimer rclcpp::TimerBase rclcpp/timer.hpp Parameters: rclcpp::Node::set_parameters() rclcpp::Node::get_parameters() rclcpp::Node::get_parameter() rclcpp::Node::describe_parameters() rclcpp::Node::list_parameters() rclcpp::Node::add_on_set_para...
{ public: ParametersClass() : Node("parameter_node") { this->declare_parameter<std::string>("my_parameter", "world"); timer_ = this->create_wall_timer( 1000ms, std::bind(&ParametersClass::respond, this)); } void respond()
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[])
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...