Functions | |
| ROS::NodePtr | createNode (const std::string &node_name="sick_scan") |
| void | deleteNode (ROS::NodePtr &node) |
| ROS::Duration | durationFromSec (double seconds) |
| ROS::Time | now (void) |
| double | seconds (ROS::Duration duration) |
| double | secondsSinceStart (const ROS::Time &time) |
| void | sleep (double seconds) |
| void | splitTime (ROS::Duration time, uint32_t &seconds, uint32_t &nanoseconds) |
| void | splitTime (ROS::Time time, uint32_t &seconds, uint32_t &nanoseconds) |
| ROS::Time | timeFromHeader (const std_msgs::Header *msg_header) |
| ROS::Time | timeFromSec (double seconds) |
| uint64_t | timestampMilliseconds (const ROS::Time &time) |
| ROS::NodePtr ROS::createNode | ( | const std::string & | node_name = "sick_scan" | ) |
Creates a new ros node, shortcut for new ros::NodeHandle() on ROS1 resp. rclcpp::Node::make_shared(node_name) on ROS2
Definition at line 65 of file ros_wrapper.cpp.
| void ROS::deleteNode | ( | ROS::NodePtr & | node | ) |
Deletes a ros node
ROS1-/ROS2-compatible shortcut for ros::spin(); Deletes a ros node
Definition at line 98 of file ros_wrapper.cpp.
| ROS::Duration ROS::durationFromSec | ( | double | seconds | ) |
Returns a duration (type ros::Duration on ROS1 resp. rclcpp::Duration on ROS2) from a given amount of seconds. Note: ros::Duration(1) initializes 1 second, while rclcpp::Duration(1) initializes 1 nanosecond. Do not use the Duration constructor with one parameter! Always use ROS::durationFromSec(seconds) or ROS::Duration(int32_t seconds, uint32_t nanoseconds).
Definition at line 172 of file ros_wrapper.cpp.
| ROS::Time ROS::now | ( | void | ) |
Shortcut to return ros::Time::now() on ROS1 resp. rclcpp::Clock::now() on ROS2
Shortcut to ros::Time::now() on ROS1 resp. rclcpp::Clock::now() on ROS2
Definition at line 116 of file ros_wrapper.cpp.
| double ROS::seconds | ( | ROS::Duration | duration | ) |
Shortcut to return ros::Duration::toSec() on ROS1 resp. rclcpp::Duration::seconds() on ROS2
Definition at line 180 of file ros_wrapper.cpp.
| double ROS::secondsSinceStart | ( | const ROS::Time & | time | ) |
Shortcut to return the time in seconds since program start (first node started)
Definition at line 192 of file ros_wrapper.cpp.
| void ROS::sleep | ( | double | seconds | ) |
Shortcut to replace ros::Duration(seconds).sleep() by std::thread
Definition at line 110 of file ros_wrapper.cpp.
| void ROS::splitTime | ( | ROS::Duration | time, |
| uint32_t & | seconds, | ||
| uint32_t & | nanoseconds | ||
| ) |
Splits a ROS::Duration into seconds and nanoseconds part
Definition at line 128 of file ros_wrapper.cpp.
| void ROS::splitTime | ( | ROS::Time | time, |
| uint32_t & | seconds, | ||
| uint32_t & | nanoseconds | ||
| ) |
Splits a ROS::Time into seconds and nanoseconds part
Definition at line 140 of file ros_wrapper.cpp.
| ROS::Time ROS::timeFromHeader | ( | const std_msgs::Header * | msg_header | ) |
Shortcut to return ros::Time(msg_header->stamp.sec,msg_header->stamp.nsec) on ROS1 resp. rclcpp::Time(msg_header->stamp.sec,msg_header->stamp.nanosec) on ROS2
Definition at line 152 of file ros_wrapper.cpp.
| ROS::Time ROS::timeFromSec | ( | double | seconds | ) |
Returns a time (type ros::Time on ROS1 resp. rclcpp::Time on ROS2) from a given amount of seconds. Note: ros::Time(1) initializes 1 second, while rclcpp::Time(1) initializes 1 nanosecond. Do not use the Time constructor with one parameter! Always use ROS::timeFromSec(seconds) or ROS::Time(int32_t seconds, uint32_t nanoseconds).
Definition at line 161 of file ros_wrapper.cpp.
| uint64_t ROS::timestampMilliseconds | ( | const ROS::Time & | time | ) |
Shortcut to return the timestamp in milliseconds from ROS1 resp. ROS2 time
Definition at line 199 of file ros_wrapper.cpp.