ros2--timer--定时器

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已于 2024-11-01 16:46:35 修改

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于 2024-07-11 15:10:16 首次发布

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ros2中的定时器

rclcpp::TimerBase::SharedPtr

这是ros2终端定时器的类型；

使用定时器的配置

引用头文件:

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/timer.hpp> //这个可以引入，也可以不引入

定时器创建

节点创建定时器

需要使用rclcpp::Node中的接口创建：

rclcpp::TimerBase::SharedPtr timer_=this->create_wall_timer()

Node::create_wall_timer()

template<typename DurationRepT, typename DurationT, typename CallbackT>

typename rclcpp::WallTimer<CallbackT>::SharedPtr

Node::create_wall_timer(

std::chrono::duration<DurationRepT, DurationT> period,

CallbackT callback,

rclcpp::CallbackGroup::SharedPtr group)

{

return rclcpp::create_wall_timer(

period,

std::move(callback),

group,

this->node_base_.get(),

this->node_timers_.get());

}

函数接受三个参数：

`period` 为时间间隔，即回调函数执行的时间间隔；

`callback` 为回调函数，当计时器触发时执行；

`group` 为指定的回调函数组，所有使用同一回调组的定时器将一起触发回调，可不传递。

class PublisherNode:public rclcpp::Node{
public:
    PublisherNode(std::string name):Node(name){
        publisher_=this->create_publisher<std_msgs::msg::String>("topic_01",10);
        timer_=this->create_wall_timer(500ms,std::bind(&PublisherNode::_timer_callback,this));
    }

private:
    void timer_callback(){
        auto msg=std_msgs::msg::String();
        msg.data="hello world!";
        publisher_->publish(msg);
        RCLCPP_INFO(this->get_logger(),"Pulishing: '%s'",msg.data.c_str());
    }
    rclcpp::TimerBase::SharedPtr timer_{};
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_{};
};

ros2中如何获取当前时间

#include <rclcpp/rclcpp.hpp>

class TimeNowNode : public rclcpp::Node {
public:
  TimeNowNode(std::string name) : rclcpp::Node(name) {
    RCLCPP_INFO(this->get_logger(), "This is time node...");
    auto time = this->get_clock()->now();
    RCLCPP_INFO(this->get_logger(), "this->get_clock().now(): %s",
                std::to_string(time.seconds()).c_str());
    auto rclcpp_time = rclcpp::Clock().now();
    RCLCPP_INFO(this->get_logger(), "rclcpp::Clock::now(): %s",
                std::to_string(rclcpp_time.seconds()).c_str());
    auto rclcpp_node_now = rclcpp::Node::now();
    RCLCPP_INFO(this->get_logger(), "rclcpp::Node::now(): %s",
                std::to_string(rclcpp_node_now.seconds()).c_str());
  }
};

int main(int argc, char **argv) {
  rclcpp::init(argc, argv);
  RCLCPP_INFO(rclcpp::get_logger("node_log"), "starting node...");
  auto node = std::make_shared<TimeNowNode>("test_time_now_node");
  rclcpp::spin(node);
  rclcpp::shutdown();

  return 0;
}

多个定时器

ros2的定时器计时和主线同步还是异步

ros2回调函数的执行和主线程同步还是异步

同步。

#include "rclcpp/rclcpp.hpp"
#include "rclcpp/timer.hpp"
#include <chrono>

using namespace std::chrono_literals;
//目的：加插定时器之间会不会相互阻塞
class MultiTimerNode : public rclcpp::Node {
public:
  MultiTimerNode(std::string name) : Node(name) {
    RCLCPP_INFO(this->get_logger(), "Start up node : %s", name.c_str());
    timer1_ = this->create_wall_timer(
        1s, std::bind(&MultiTimerNode::timer1_callback, this));
    timer2_ = this->create_wall_timer(
        1s, std::bind(&MultiTimerNode::timer2_callback, this));
  }
  void timer1_callback() {
    RCLCPP_INFO(this->get_logger(), "timer1 thread pid is %d", gettid());
    RCLCPP_INFO(this->get_logger(), "timer1 sleep for 5s...");
    rclcpp::sleep_for(3s);
    RCLCPP_INFO(this->get_logger(), "Timer 1 callback");
  }
  void timer2_callback() {
    RCLCPP_INFO(this->get_logger(), "timer2 thread pid is %d", gettid());
    RCLCPP_INFO(this->get_logger(), "timer2 sleep for 5s...");
    rclcpp::sleep_for(3s);
    RCLCPP_INFO(this->get_logger(), "Timer 2 callback");
  }

private:
  rclcpp::TimerBase::SharedPtr timer1_;
  rclcpp::TimerBase::SharedPtr timer2_;
};

int main(int argc, char *argv[]) {
  rclcpp::init(argc, argv);
  auto node = std::make_shared<MultiTimerNode>("multi_timer_node");
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}