NodeUtils.h

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#ifndef CONTROLS_UTILS_NODEUTILS_H
#define CONTROLS_UTILS_NODEUTILS_H
 
#include <rcl/time.h>
 
#include <rclcpp/rclcpp.hpp>
 
namespace Controller {
 
class NodeUtils {
public:
    inline static std::shared_ptr<rclcpp::Node> node_;
 
    static double current_ros_time() {
        if (!Controller::NodeUtils::node_) {
            return 0.0;
        }
        return node_->get_clock()->now().seconds();
    }
 
    static double current_system_time() {
        return rclcpp::Clock{RCL_SYSTEM_TIME}.now().seconds();
    }
 
    static rclcpp::Time current_ros_stamp() {
        return rclcpp::Time{static_cast<int64_t>(current_ros_time())};
    }
 
    static rclcpp::Logger get_logger() {
        if (node_) {
            return node_->get_logger();
        }
        return rclcpp::get_logger("controls");
    }
};
 
}  // namespace Controller
#endif  // CONTROLS_UTILS_NODEUTILS_H