🍳Cookbook

How to set up timer for periodic tasks?

rclcpp:rclcpp::Node class has a method called create_wall_timer, which can be used to create period signal. The following two c++ functions are usually used with the create_wall_timer method.

• std::bind

• std::placeholders::_1

How to get the current time?

If we are inside a node, we can use the following code to get the current time.

this->get_clock()->now()