Question

I was thinking of a way of creating a custom clock that I can use to step all my nodes.

I investigated a bunch of complicated things like using the Player class from rosbag, but I think I am overcomplicating this.

Is there any example of just creating a custom clock? I was trying to see if there was a test in roscomm or roscomm_msgs but I could not find anything.

Thank you for your help!

Asked by fbelmonteklein on 2023-04-17 04:32:09 UTC

Answer 1

I was overcomplicating it. Here is a simple example:

#include "ros/init.h"
#include "ros/node_handle.h"
#include "ros/publisher.h"
#include "rosgraph_msgs/Clock.h"
#include <boost/chrono/duration.hpp>
#include <boost/chrono/system_clocks.hpp>
#include <boost/thread/thread.hpp>

class custom_clock
{
    public:
        custom_clock();
        void pub_once_different_time();
        uint64_t current_time, clock_step_nanosseconds;
        boost::chrono::nanoseconds real_sim_clock_between_msgs_duration;
        ros::Publisher clock_pub;
};

custom_clock::custom_clock()
{
    ros::NodeHandle n;
    clock_pub = n.advertise<rosgraph_msgs::Clock>("/clock", 10); 
    current_time = boost::chrono::system_clock::now().time_since_epoch().count();
}

void custom_clock::pub_once_different_time()
{
    rosgraph_msgs::Clock clock_msg;
    current_time += clock_step_nanosseconds;
    clock_msg.clock.fromNSec(current_time);
    clock_pub.publish(clock_msg);

}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "custom_clock");
    custom_clock c;
    //set fake rate:
    c.real_sim_clock_between_msgs_duration = boost::chrono::milliseconds(10);
    c.clock_step_nanosseconds = 100;
    while(ros::ok())
    {
        c.pub_once_different_time();
        boost::this_thread::sleep_for( c.real_sim_clock_between_msgs_duration );

    }
    return 0;
}

Asked by fbelmonteklein on 2023-04-17 06:37:01 UTC

How to create a custom clock using roscpp

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