Class CreateTimerROS

• Defined in File create_timer_ros.h

Inheritance Relationships

Base Type

• public tf2_ros::CreateTimerInterface (Class CreateTimerInterface)

Class Documentation

class CreateTimerROS : public tf2_ros::CreateTimerInterface

Create and manage ROS timers.

This class is thread safe.

Public Functions

TF2_ROS_PUBLIC CreateTimerROS(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr)

virtual ~CreateTimerROS() = default

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

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) override

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) override

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) override

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