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ROS2.0 Timing/Duration Help

foxy
ros2

asked 2020-07-24 11:10:20 -0500

FutureSomething2036
1 ●1 ●1 ●1

Hi everyone,

I am very new to using ROS2.0 (Foxy). Im working on a project that uses a publisher/subscriber to send messages. I need to know the time in between when messages are received (i.e. message 1 comes in at time 0, message 2 comes in at time 10, therefore the amount of time between the messages equals 10).

I have scoured the ROS documentation and found out about the "rclcpp::Time" and "rclcpp::Duration" client libraries, but i am having a very hard time understanding how to use them.

Any help/links to guided use of these libraries/written guide would be very helpful!

Much thanks, - New ROS User

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answered 2022-01-19 13:58:35 -0500

Debanik Roy
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updated 2022-01-19 14:01:37 -0500

use that

rclcpp::Time now = this->get_clock()->now();
rclcpp::Time when = this->get_clock()->now() - rclcpp::Duration(5, 0);
rclcpp::Time t_delta = now + rclcpp::Duration(1/10, 0);

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Asked: 2020-07-24 11:10:20 -0500

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