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use steady and system time from rcutils

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This commit is contained in:
Dirk Thomas 2017-06-01 14:26:17 -07:00
parent 454d38776c
commit bfa09fb78c
1 changed files with 6 additions and 6 deletions
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12
rclcpp/include/rclcpp/time.hpp
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@ -31,22 +31,22 @@ public:
static Time static Time
now() now()
{ {
rcl_time_point_value_t rcl_now = 0; rcutils_time_point_value_t rcutils_now = 0;
rcl_ret_t ret = RCL_RET_ERROR; rcutils_ret_t ret = RCUTILS_RET_ERROR;
if (ClockT == RCL_ROS_TIME) { if (ClockT == RCL_ROS_TIME) {
throw std::runtime_error("RCL_ROS_TIME is currently not implemented."); throw std::runtime_error("RCL_ROS_TIME is currently not implemented.");
ret = false; ret = false;
} else if (ClockT == RCL_SYSTEM_TIME) { } else if (ClockT == RCL_SYSTEM_TIME) {
ret = rcl_system_time_now(&rcl_now); ret = rcutils_system_time_now(&rcutils_now);
} else if (ClockT == RCL_STEADY_TIME) { } else if (ClockT == RCL_STEADY_TIME) {
ret = rcl_steady_time_now(&rcl_now); ret = rcutils_steady_time_now(&rcutils_now);
} }
if (ret != RCL_RET_OK) { if (ret != RCUTILS_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error( rclcpp::exceptions::throw_from_rcl_error(
ret, "Could not get current time: "); ret, "Could not get current time: ");
} }
return Time(std::move(rcl_now)); return Time(std::move(rcutils_now));
} }
operator builtin_interfaces::msg::Time() const operator builtin_interfaces::msg::Time() const