Ros2_学习整理_5_时间API（赵虚左老师）

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已于 2024-06-07 10:02:48 修改

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分类专栏： Ros2理论与实践文章标签： ubuntu 机器人 python 自动驾驶 ros2

于 2024-05-27 16:47:24 首次发布

本文链接：https://blog.csdn.net/m0_51759289/article/details/139241946

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时间相关API

Rate

1.rclcpp

rclcpp::Rate rate(1.0);//创建Rate对象方式1
rclcpp::Rate rate(1000ms);//创建Rate对象方式2
rate.sleep();//休眠

2.rclpy

rclpy中的Rate对象可以通过节点创建，Rate对象的sleep函数需要在子线程中执行，不然会阻塞程序
1、导包
import rclpy
import threading
from rclpy.timer import Rate
2、创建节点对象
node = rclpy.create_node("rate_demo_node")
3、创建Rate对象
rate = node.create_rate(1.0)

Time

1.rclcpp

rclcpp::Time t1(10500000000L);//创建Time对象
rclcpp::Time right_now = node->get_clock()->now();//通过节点获取当前时刻

2.rclpy

1、导包
import rclpy
from rclpy.time import Time
#创建Time对象
right_now = node.get_clock().now()
t1 = Time(seconds = 10,nanoseconds = 500000000)
node.get_logger().info("s = %.2f, ns = %d" % (right_now.seconds_nanoseconds()[0], right_now.seconds_nanoseconds()[1]))
node.get_logger().info("s = %.2f, ns = %d" % (t1.seconds_nanoseconds()[0], t1.seconds_nanoseconds()[1]))
node.get_logger().info("ns = %d" % right_now.nanoseconds)
node.get_logger().info("ns = %d" % t1.nanoseconds)

Duration

1.rclcpp

// 创建 Duration 对象
   rclcpp::Duration du1(1s);
   rclcpp::Duration du2(2,500000000);
   RCLCPP_INFO(node->get_logger(),"s = %.2f, ns = %ld", du2.seconds(),du2.nanoseconds());

2.rclpy

1、导包
import rclpy
from rclpy.duration import Duration
node = rclpy.create_node("duration_demo")
du1 = Duration(seconds = 2,nanoseconds = 500000000)
node.get_logger().info("ns = %d" % du1.nanoseconds)

Time与Duration运算

1.rclcpp

//创建时间Time对象和时间间隔对象Duration
rclcpp::Time t1(1,500000000);
rclcpp::Time t2(10,0);
rclcpp::Duration du1(3,0);
rclcpp::Duration du2(5,0);
// 比较
RCLCPP_INFO(node->get_logger(),"t1 >= t2 ? %d",t1 >= t2);
// 数学运算
rclcpp::Time t3 = t2 + du1;
rclcpp::Time t4 = t1 - du1;
   rclcpp::Duration du3 = t2 - t1;
   RCLCPP_INFO(node->get_logger(), "t3 = %.2f",t3.seconds());  
   RCLCPP_INFO(node->get_logger(), "t4 = %.2f",t4.seconds()); 
   RCLCPP_INFO(node->get_logger(), "du3 = %.2f",du3.seconds()); 
   RCLCPP_INFO(node->get_logger(),"--------------------------------------");
   // 比较
   RCLCPP_INFO(node->get_logger(),"du1 >= du2 ? %d", du1 >= du2);
  RCLCPP_INFO(node->get_logger(),"du1 < du2 ? %d", du1 < du2);
 // 数学运算
 rclcpp::Duration du4 = du1 * 3.0;
  rclcpp::Duration du5 = du1 + du2;
   rclcpp::Duration du6 = du1 - du2;
 RCLCPP_INFO(node->get_logger(), "du4 = %.2f",du4.seconds()); 
   RCLCPP_INFO(node->get_logger(), "du5 = %.2f",du5.seconds()); 
   RCLCPP_INFO(node->get_logger(), "du6 = %.2f",du6.seconds());

2.rclpy

import rclpy
from rclpy.time import Time
from rclpy.duration import Duration
def main():
   rclpy.init()
   node = rclpy.create_node("time_opt_node")
   t1 = Time(seconds=10)
   t2 = Time(seconds=4)

   du1 = Duration(seconds=3)
   du2 = Duration(seconds=5)
   # 比较
   node.get_logger().info("t1 >= t2 ? %d" % (t1 >= t2))
   node.get_logger().info("t1 < t2 ? %d" % (t1 < t2))
   # 数学运算
   t3 = t1 + du1
   t4 = t1 - t2    
  t5 = t1 - du1
   node.get_logger().info("t3 = %d" % t3.nanoseconds)
   node.get_logger().info("t4 = %d" % t4.nanoseconds)
   node.get_logger().info("t5 = %d" % t5.nanoseconds)
   # 比较
   node.get_logger().info("-" * 80)
   node.get_logger().info("du1 >= du2 ? %d" % (du1 >= du2))
   node.get_logger().info("du1 < du2 ? %d" % (du1 < du2))
   rclpy.shutdown()
if __name__ == "__main__":
   main()