rclpy.time module

class rclpy.time.Time(*, seconds=0, nanoseconds=0, clock_type: rpyutils.import_c_library.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: rpyutils.import_c_library.ClockType

Returns:: the type of clock that produced this instance.

classmethod from_msg(msg: builtin_interfaces.msg.Time, clock_type: rpyutils.import_c_library.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