21 #include "clock_thread.h"
23 #include <rosgraph_msgs/Clock.h>
24 #include <utils/time/wait.h>
43 pub_ =
rosnode->advertise<rosgraph_msgs::Clock>(
"clock", 1);
44 rosnode->setParam(
"/use_sim_time",
true);
46 set_local_ = ros::Time::isSystemTime();
49 ros::Time::setNow(ros::Time::now());
58 rosnode->deleteParam(
"/use_sim_time");
64 RosClockThread::publish_clock()
66 rosgraph_msgs::Clock clock_msg;
69 clock_msg.clock.sec = now.get_sec();
70 clock_msg.clock.nsec = now.get_usec() * 1000;
72 pub_.publish(clock_msg);
75 ros::Time::setNow(clock_msg.clock);
79 ros_clock_cb(
const rosgraph_msgs::Clock::ConstPtr &msg)
81 ros::Time::setNow(msg->clock);