Open 3D Engine ROS2 Gem API Reference  24.09
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Public Member Functions | List of all members
ROS2::SimulationTimeSource Class Reference

#include <SimulationTimeSource.h>

Inherits ROS2::ITimeSource.

Public Member Functions

virtual void Activate () override
 
virtual void Deactivate () override
 
virtual builtin_interfaces::msg::Time GetROSTimestamp () const override
 

Detailed Description

The SimulationTimeSource provides timestamps calculated using updates from the physics engine. Simulation paces the clock with stable steps, and as a result, this time source eliminates data jitter. The simulated time can be faster or slower than the real-time, according to the configuration of the physics engine. SimulationTimeSource is used as the default time source for the projects. The simulated clock is incremented with delta times that were simulated by physics. The time source registers and observes AZ::PhysicsScene and when the simulation starts, it attaches and starts counting the updates. It is recommended to use it with high-frequency sensors such as odometry and IMUs.

Member Function Documentation

◆ GetROSTimestamp()

virtual builtin_interfaces::msg::Time ROS2::SimulationTimeSource::GetROSTimestamp ( ) const
overridevirtual

Get ROS 2 time as ROS2 message.

See also
ROS2Requests::GetROSTimestamp() for more details.

Implements ROS2::ITimeSource.

The documentation for this class was generated from the following file: