diff --git a/rclcpp/include/rclcpp/time.hpp b/rclcpp/include/rclcpp/time.hpp index 6a1d552..15386e8 100644 --- a/rclcpp/include/rclcpp/time.hpp +++ b/rclcpp/include/rclcpp/time.hpp @@ -31,22 +31,22 @@ public: static Time now() { - rcl_time_point_value_t rcl_now = 0; - rcl_ret_t ret = RCL_RET_ERROR; + rcutils_time_point_value_t rcutils_now = 0; + rcutils_ret_t ret = RCUTILS_RET_ERROR; if (ClockT == RCL_ROS_TIME) { throw std::runtime_error("RCL_ROS_TIME is currently not implemented."); ret = false; } 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) { - 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( ret, "Could not get current time: "); } - return Time(std::move(rcl_now)); + return Time(std::move(rcutils_now)); } operator builtin_interfaces::msg::Time() const