ROS中的Time

ros时间戳

头文件

#include "ros/time.h"

变量

ros::Time time;

数据格式

header: 
seq: 278
stamp:
secs: 173
nsecs: 427000000
frame_id: "xx"

从消息获取数据

ros::Time time = msg->header.stamp;

时间戳转浮点

time2 = time.toSec();

浮点型转换为时间戳

msg.header.stamp = time2.fromSec();

cpp时间戳

头文件

#include <chrono>

变量

std::chrono::hours hour_time = std::chrono::hours(1);   
std::chrono::minutes minutes_time = std::chrono::duration_cast<std::chrono::minutes>(hour_time);
std::chrono::seconds seconds_time = std::chrono::duration_cast<std::chrono::seconds>(hour_time);
std::chrono::milliseconds milliseconds_time = std::chrono::duration_cast<std::chrono::milliseconds>(hour_time);
std::chrono::microseconds microseconds_time = std::chrono::duration_cast<std::chrono::microseconds>(hour_time);

获取当前时间

auto t1 = std::chrono::high_resolution_clock::now();

时间差

auto elased_time = std::chrono::duration_cast<std::chrono::nanoseconds>(t2-t1).count()/1.0e9;//纳秒级别

使用.count() 转浮点