rclpy.time module

class rclpy.time.Time(*, seconds: int | float = 0, nanoseconds: int = 0, clock_type: ClockType = rpyutils.import_c_library.ClockType.SYSTEM_TIME)

Bases: object

Represents a point in time.

A Time object is the combination of a duration since an epoch, and a clock type. Time objects are only comparable with other time points from the same type of clock.

property clock_type: ClockType

Returns:

the type of clock that produced this instance.

classmethod from_msg(msg: builtin_interfaces.msg.Time, clock_type: ClockType = rpyutils.import_c_library.ClockType.ROS_TIME) → Time

Create a Time instance from a ROS message.

Parameters:

msg (builtin_interfaces.msg.Time) – the message instance to convert.

Return type:

Time

property nanoseconds: int

Returns:

the total number of nanoseconds since the clock’s epoch.

seconds_nanoseconds() → Tuple[int, int]

Get time separated into seconds and nanoseconds components.

Returns:

2-tuple seconds and nanoseconds

to_msg() → builtin_interfaces.msg.Time

Create a ROS message instance from a Time object.

Return type:

builtin_interfaces.msg.Time