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Time message definition rationale

asked 2020-07-01 19:35:00 -0600

strike_eagle_iii gravatar image

This might be a little bit of a dumb question, but I'm curious why the Time type is defined as an int32 and uint32.

https://github.com/ros2/rcl_interface...

I've looked:

https://design.ros2.org/articles/cloc... http://wiki.ros.org/roscpp/Overview/Time

but didn't find an answer as to why the msg itself is defined as it is as opposed to a single uint64. Obviously the int32 can be positive or negative (which honestly I don't understand in the context that the Time type is a specific point in time, as opposed to a duration).

The type is the same between ROS and ROS2, so the must be some advantage of why it is defined as it is. what are these advantages? Thanks

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answered 2020-07-01 20:02:25 -0600

sloretz gravatar image

While I'm not sure what the advantage is, I think this is the reason for it in ROS 2.

builtin_interfaces/msg/Time is part of the builtin_interfaces package which contains "message and service definitions for types defined in the OMG IDL Platform Specific Model".

In section 2.3.2 of the OMG DDS 1.4 spec the Duration_T and Time_T types are defined:

The two types used to represent time: Duration_t and Time_t are mapped into structures that contain fields for the second and the nanosecond parts. These types are further constrained to always use a ‘normalized’ representation for the time, that is, the nanosec field must verify 0 <= nanosec < 1000000000

and a little lower down

 struct Time_t {
     long sec;
     unsigned long nanosec;
 };
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Asked: 2020-07-01 19:35:00 -0600

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Last updated: Jul 01 '20