ROS::Time[/Duration/Rate]:ROS时间——来源可以被认为修改如加速/减速/暂停。 ROS::WallTime[WallDuration/WallRate]:ROS绝对时间——不可修改的"真实"时间。 所有的ros::node在启动时如果有设置[ros::param] \use_sim_time = true...
-- Important: Use simulated time publishedon/clock topic, otherwise TF will be broken --> <param name="/use_sim_time"value="true"/> <!-- BAG FILE PLAYBACK --> <group> <remapfrom="/tf"to="/spencer/sensors/tf_in_bagfile"if="$(arg remap_tf)"/> <remapfrom="/spencer/sensors/cl...
4.3、配置launch文件:这里使用offline节点或online节点都可以,offline节点可以建图,因此使用offline节点 <launch><paramname="/use_sim_time"value="true"/><nodename="rviz"pkg="rviz"type="rviz"required="true"args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz"/><nodename="cartographer_...
Rosplay "Bag time“在rosrecord后20秒开始 我正在使用Rosbag录制一个在Gazebo中模拟的F1机器人。当我录制F1时,一切正常,但当我使用"Rosbag play“时,录制与我录制的F1的运动不同步。“包时间”开始于秒20,但持续时间开始于秒0,因此F1提前转向我尝试过"rosbag set use_sim_time true“和”rosbag play xxx...
# rosbag record -a 时提示以下信息 解决方案 [ WARN] [1576311065.082263288]: /use_sim_time set to true and no clock published. Still waiting for valid time... #录制前 $ rosparam set /use_sim_time false #播放时 $ rosparam set /use_sim_time true...
More context on current functionality: use_sim_time is a generic parameter to nodes, which is set on the Recorder node so that its this->get_clock()->now() returns the result of the /clock topic. So, the current behavior is a result of rclcpp behavior. If we decide to mitigate this...
<arg name="use_sim_time" value="$(arg use_sim_time)"/> <arg name="headless" value="$(arg headless)"/> </include> <!-- Load the URDF into the ROS Parameter Server --> <arg name="model" /> <param name="robot_description" ...
emersonknappchanged the titleplay - drive rosbag2 playback via external /clock time source ("use-sim-time")Jun 11, 2021 This was referencedAug 12, 2021 emersonknappchanged the titleDrive rosbag2 playback via external /clock time source ("use-sim-time")Nov 1, 2021 ...
获取系统时间戳 public String getTime(){ long time=System.currentTimeMillis()/1000;//获取系统...
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