Replacement for rospy.time.now() in ROS2?

ros2
crystal

asked 2019-04-21 14:13:11 -0600

OwnageManFromLOL
149 ●13 ●17 ●25

In ROS1 if I wanted to publish an Odometry msg I would use rospy.Time.now() to get the current time and publish the odom msg using that time. However, I haven't been able to find anything similar in ROS2? Does anyone know what functionality I can use to get the time for a msg I am publishing in ROS2?

now = rospy.Time.now()
odom = Odometry()
odom.header.frame_id = self._odom_frame
odom.header.stamp = now

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17

answered 2019-04-21 19:40:17 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

There's no longer a global instance of the communication library that you can rely on in rclpy.

You need to get a clock instance from your node instance.

my_node.get_clock().now()

More info on the design can be found here: https://design.ros2.org/articles/cloc...

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Hey tfoote thanks for your help :)

OwnageManFromLOL ( 2019-04-22 19:33:20 -0600 )edit

7

dont forget to add .to_msg() at the end.

another helpful answer

flynneva ( 2020-06-09 19:59:00 -0600 )edit

2

The .to_msg() is critical!

mschickler ( 2020-08-26 08:42:23 -0600 )edit

hello, is it the same for c++ ?

Wissem ( 2023-03-12 16:46:31 -0600 )edit

Yes, there's an equivalent API in rclcpp

tfoote ( 2023-03-12 21:57:28 -0600 )edit

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-1

answered 2022-07-20 10:47:04 -0600

lorepieri
50 ●6 ●11 ●13

from rclpy.clock import Clock
time_stamp = Clock().now()

to use it:

p = PoseStamped()
p.header.stamp = time_stamp.to_msg()

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This is incorrect. The default constructed clock will not have a timesource attached and obey simulated time.

tfoote ( 2022-07-27 15:39:10 -0600 )edit

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Replacement for rospy.time.now() in ROS2?

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