ROS1
ROS1是直接用Time类型
赋值:ros::Time now = ros::Time::now();
ROS2
现在ROS2变成了builtin_interfaces/msg/Time类型
赋值:builtin_interfaces::msg::Time now = node->get_clock()->now();
node是节点:std::shared_ptrrclcpp::Node node= rclcpp::Node::make_shared(“zhi”);
如果类像官方文档中继承ros2的类的话,那直接用this替代node就行;
获取秒级时间:double time1 = node->get_clock()->now().seconds();