disable_rostime for roscpp
I'm looking for the corresponding api in roscpp of the following rospy api
rospy.init_node('emulation_clock', disable_rostime=True)
i.e. I want to configure disable_rostime
for a cpp publisher node publishing a custom clock
when publishing a custom clock, I will have to set use_sim_time
to True
so other nodes will subscribe to the published /clock
topic
however, setting use_sim_time
to True
also lets my cpp publisher to wait for the /clock
- which would be prevented via disable_rostime
...however, this seems not to be available in roscpp's
ros::init(argc, argv, "emulation_clock");
(python works, but has high load - so I wanted to implement the clock publisher in roscpp for performance reasons...)
I don't believe this is supported (ie:
disable_rostime
inroscpp
). Initialising time is unconditional (here and here) afaict.I ended up using https://www.boost.org/doc/libs/1_35_0... instead of the roscpp Timer