forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathnode_clock.cpp
More file actions
49 lines (42 loc) · 1.48 KB
/
node_clock.cpp
File metadata and controls
49 lines (42 loc) · 1.48 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "rclcpp/node_interfaces/node_clock.hpp"
#include <memory>
#include <string>
using rclcpp::node_interfaces::NodeClock;
NodeClock::NodeClock(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging)
: node_base_(node_base),
node_topics_(node_topics),
node_graph_(node_graph),
node_services_(node_services),
node_logging_(node_logging),
ros_clock_(std::make_shared<rclcpp::Clock>(RCL_ROS_TIME))
{}
NodeClock::~NodeClock()
{}
rclcpp::Clock::SharedPtr
NodeClock::get_clock()
{
return ros_clock_;
}
rclcpp::Clock::ConstSharedPtr
NodeClock::get_clock() const
{
return ros_clock_;
}