Getting ros2 time to stamp the PoseStamped message

40 vues (au cours des 30 derniers jours)
Samantha Kamel
Samantha Kamel le 1 Juil 2022
I work with a ros2 system in which my algorithm sends as an output a navigation message using the geometry_msgs/PoseStamped. The problem is that I want to assign the time stamp parameter with the value of ros2 time and the only function available for that is rostime("now") which works only with ros not ros2 that's why I get the error:
The global ROS node is not initialized. Use "rosinit" to start the global node and connect to a ROS network.
So I'm looking for a solution to get the time of ros2 or find a way to make the system time in a format of the time stamp of the output message.
That is the code I'm using to assign the output message:
msg= ros2message("geometry_msgs/PoseStamped");
msg.pose.position.x=pos(1); %pos is a variable assigned previously in the code
msg.pose.position.y=pos(2);
msg.pose.position.z=0;
msg.orientation.x=0;
msg.orientation.y=0;
msg.orientation.z=theta;
msg.orientation.w=1;
[s,ns]= getTime; %getTime Function
GNSSmsg.header.stamp.sec=s;
GNSSmsg.header.stamp.nanosec=ns;
%getTime Function:
function [s,ns] = getTime
t = rostime('now');
s = t.Sec;
ns = t.Nsec;
end

Réponses (1)

Cam Salzberger
Cam Salzberger le 4 Août 2022
Hello Samantha,
I don't have MATLAB in front of me to check, but if you want to use system time, I think using datetime and convertTo would be easier than starting a ROS Master:
currTime = datetime("now");
currTimePosix = convertTo(currTime, "posixtime");
sec = floor(currTimePosix);
nsec = round((currTimePosix-sec)*1e9);
msg.sec = sec;
msg.nsec = nsec
msg = struct with fields:
sec: 1.6596e+09 nsec: 834337950
-Cam

Catégories

En savoir plus sur Network Connection and Exploration dans Help Center et File Exchange

Produits

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by