Controller::NodeUtils Class Reference

Singleton utility providing access to the shared ROS node and time functions. More...

#include <NodeUtils.h>

Static Public Member Functions
static double	current_ros_time ()
	Returns the current ROS clock time in seconds. More...
static double	current_system_time ()
	Returns the current system (wall-clock) time in seconds. More...
static rclcpp::Time	current_ros_stamp ()
	Returns the current ROS time as an rclcpp::Time stamp. More...
static rclcpp::Logger	get_logger ()
	Returns the ROS logger associated with the shared node. More...

Static Public Attributes
static std::shared_ptr< rclcpp::Node >	node_
	Shared pointer to the single active ROS2 node. More...

Detailed Description

Singleton utility providing access to the shared ROS node and time functions.

The node pointer must be set by the application entrypoint before any other method is called. All methods silently degrade when the node is null.

Member Function Documentation

current_ros_stamp()

static rclcpp::Time Controller::NodeUtils::current_ros_stamp ( )

inlinestatic

Returns the current ROS time as an rclcpp::Time stamp.

Returns

Current ROS time as an rclcpp::Time

current_ros_time()

static double Controller::NodeUtils::current_ros_time ( )

inlinestatic

Returns the current ROS clock time in seconds.

Returns

Current ROS time in seconds, or 0.0 if the node is not yet set

current_system_time()

static double Controller::NodeUtils::current_system_time ( )

inlinestatic

Returns the current system (wall-clock) time in seconds.

Returns

Current system time in seconds

get_logger()

static rclcpp::Logger Controller::NodeUtils::get_logger ( )

inlinestatic

Returns the ROS logger associated with the shared node.

Returns

Node logger, or the "controls" logger if no node is set

Member Data Documentation

node_

std::shared_ptr<rclcpp::Node> Controller::NodeUtils::node_

inlinestatic

Shared pointer to the single active ROS2 node.

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The documentation for this class was generated from the following file:

• include/utils/NodeUtils.h