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)

Function Documentation

◆ createNode()

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.

◆ deleteNode()

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.

◆ durationFromSec()

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.

◆ now()

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.

◆ seconds()

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.

◆ secondsSinceStart()

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.

◆ sleep()

void ROS::sleep ( double seconds )

Shortcut to replace ros::Duration(seconds).sleep() by std::thread

Definition at line 110 of file ros_wrapper.cpp.

◆ splitTime() [1/2]

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.

◆ splitTime() [2/2]

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.

◆ timeFromHeader()

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.

◆ timeFromSec()

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.

◆ timestampMilliseconds()

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.

Functions