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How to transfer second to rostime in ROS2

asked 2022-06-10 20:42:29 -0600

lilyGinger
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In ROS2, which function can replace ros1 'ros::Time().fromSec'? Thanks a lot for your time!

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answered 2022-06-10 21:01:56 -0600

fergs

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rclcpp::Duration has a from_seconds() constructor - but rclcpp::Time does not, the best approximation that I've found is:

rclcpp::Time t(static_cast<uin64_t>(seconds * 1e9));

I have a bit more detailed write up in the ros2_cookbook

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Asked: 2022-06-10 20:42:29 -0600

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Last updated: Jun 10 '22

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How to transfer second to rostime in ROS2