3.6.2 Time

1.rclcpp 中的 Time

示例：创建 Time 对象，并调用其函数。

#include "rclcpp/rclcpp.hpp"

int main(int argc, char const *argv[])
{
    rclcpp::init(argc,argv);
    auto node = rclcpp::Node::make_shared("time_demo");

    // 创建 Time 对象
    rclcpp::Time t1(10500000000L);
    rclcpp::Time t2(2,1000000000L);
    // 通过节点获取当前时刻。
    // rclcpp::Time roght_now = node->get_clock()->now();
    rclcpp::Time roght_now = node->now();
    RCLCPP_INFO(node->get_logger(),"s = %.2f, ns = %ld",t1.seconds(),t1.nanoseconds());
    RCLCPP_INFO(node->get_logger(),"s = %.2f, ns = %ld",t2.seconds(),t2.nanoseconds());
    RCLCPP_INFO(node->get_logger(),"s = %.2f, ns = %ld",roght_now.seconds(),roght_now.nanoseconds());

    rclcpp::shutdown();

    return 0;
}

2.rclpy 中的 Time

示例：创建 Time 对象，并调用其函数。

import rclpy
from rclpy.time import Time
def main():
    rclpy.init()
    node = rclpy.create_node("time_demo")
    # 创建 Time 对象
    right_now = node.get_clock().now()
    t1 = Time(seconds=10,nanoseconds=500000000)

    node.get_logger().info("s = %.2f, ns = %d" % (right_now.seconds_nanoseconds()[0], right_now.seconds_nanoseconds()[1]))
    node.get_logger().info("s = %.2f, ns = %d" % (t1.seconds_nanoseconds()[0], t1.seconds_nanoseconds()[1]))
    node.get_logger().info("ns = %d" % right_now.nanoseconds)
    node.get_logger().info("ns = %d" % t1.nanoseconds)
    rclpy.shutdown()

if __name__ == "__main__":
    main()