Class CreateTimerInterface

• Defined in File create_timer_interface.h

Inheritance Relationships

Derived Type

• public tf2_ros::CreateTimerROS (Class CreateTimerROS)

Class Documentation

class CreateTimerInterface

Abstract interface for creating timers.

Subclassed by tf2_ros::CreateTimerROS

Public Types

using SharedPtr = std::shared_ptr<CreateTimerInterface>

using ConstSharedPtr = std::shared_ptr<const CreateTimerInterface>

using UniquePtr = std::unique_ptr<CreateTimerInterface>

Public Functions

virtual TF2_ROS_PUBLIC ~CreateTimerInterface() = default

virtual TF2_ROS_PUBLIC TimerHandle createTimer (rclcpp::Clock::SharedPtr clock, const tf2::Duration &period, TimerCallbackType callback)=0

Create a new timer.

After creation, the timer will periodically execute the user-provided callback.

Parameters:

• clock – The clock providing the current time

• period – The interval at which the timer fires

• callback – The callback function to execute every interval

virtual TF2_ROS_PUBLIC void cancel (const TimerHandle &timer_handle)=0

Cancel a timer.

The timer will stop executing user callbacks.

Parameters:

timer_handle – Handle to the timer to cancel \raises tf2_ros::InvalidTimerHandleException if the timer does not exist

virtual TF2_ROS_PUBLIC void reset (const TimerHandle &timer_handle)=0

Reset the timer.

The timer will reset and continue to execute user callbacks periodically.

Parameters:

timer_handle – Handle to the timer to reset \raises tf2_ros::InvalidTimerHandleException if the timer does not exist

virtual TF2_ROS_PUBLIC void remove (const TimerHandle &timer_handle)=0

Remove a timer.

The timer will be canceled and removed from internal storage.

Parameters:

timer_handle – Handle to the timer to reset \raises tf2_ros::InvalidTimerHandleException if the timer does not exist