Description
Publishes rosgraph_msgs::msg::Clock messages at each timestep (by default) of the simulation.
This is useful if you want run the ROS at a corresponding to simulation time versus wall time.
#include <ChROSClockHandler.h>


Public Member Functions | |
ChROSClockHandler (double update_rate=0, const std::string &topic_name="/clock") | |
Constructor for the ChROSClockHandler. | |
virtual bool | Initialize (std::shared_ptr< ChROSInterface > interface) override |
Initializes this handler. Will create a single publisher for the clock information under the "/clock" topic. | |
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virtual | ~ChROSHandler ()=default |
Destructor for the ChROSHandler. | |
virtual void | Update (double time, double step) final |
Updates the internal clock and checks if a tick should occur. | |
const double | GetUpdateRate () const |
Get the period which this handler operates at. | |
const uint64_t | GetTickCount () const |
Get the number of times Tick() has been called. | |
Protected Member Functions | |
virtual void | Tick (double time) override |
Tick this hander. Will create the clock message and publish it. By default, Tick is called at each sim update. | |
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ChROSHandler (double update_rate) | |
Constructor for the ChROSHandler. | |
Constructor & Destructor Documentation
◆ ChROSClockHandler()
chrono::ros::ChROSClockHandler::ChROSClockHandler | ( | double | update_rate = 0, |
const std::string & | topic_name = "/clock" ) |
Constructor for the ChROSClockHandler.
The update rate defaults to 0 (i.e. to be updated at each timestep). topic_name defaults to "/clock" which overrides the ros time update handler. The chrono time will then correspond to ros time.
Member Function Documentation
◆ Initialize()
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overridevirtual |
Initializes this handler. Will create a single publisher for the clock information under the "/clock" topic.
Implements chrono::ros::ChROSHandler.
◆ Tick()
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overrideprotectedvirtual |
Tick this hander. Will create the clock message and publish it. By default, Tick is called at each sim update.
Implements chrono::ros::ChROSHandler.
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono_ros/handlers/ChROSClockHandler.h
- C:/M/B/src/chrono-9.0.1/src/chrono_ros/handlers/ChROSClockHandler.cpp