Struct r2r::TimeSource

pub struct TimeSource { /* private fields */ }

Provides time from /clock topic to attached ROS clocks

By default only clock used by ROS timers is attached and time from /clock topic is disabled.

The time from /clock topic can be activated by either of these:

• calling TimeSource::enable_sim_time
• having registered parameter handler and launching the node with parameter use_sim_time:=true

Similar to rclcpp/time_source.hpp

Implementations

impl TimeSource

pub fn attach_ros_clock(&self, clock: Weak<Mutex<Clock>>) -> Result<()>

Attach clock of type RosTime to the TimeSource

If the simulated time is enabled the TimeSource will distribute simulated time to all attached clocks.

pub fn enable_sim_time(&self, node: &mut Node) -> Result<()>

Enables usage of simulated time

Simulated time is provided on topic "/clock" in the message rosgraph_msgs::msg::Clock.

See example: sim_time_publisher.rs

pub fn disable_sim_time(&self)

Disables usage of simulated time

This will schedule removal of internal subscriber to the "/clock" topic on the next receipt of rosgraph_msgs::msg::Clock message.

Trait Implementations

impl Clone for TimeSource

fn clone(&self) -> TimeSource

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.