Current Time

Retrieve current ROS 2 time or system time

• Library:

• ROS Toolbox / ROS 2

• 

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Description

The Current Time block outputs the current ROS 2 time. ROS 2 time is based on the system clock of your computer or the /clock topic being published on the ROS 2 network.

If the use_sim_time ROS 2 parameter is set to true, the block returns the simulation time published on the /clock topic. Otherwise, the block returns the system time of your machine.

Ports

Output

Time — ROS 2 time

bus | scalar

ROS 2 time, returned as a bus signal or a scalar. The Output format parameter determines the format of this output port. The bus represents a builtin_interfaces/Time ROS 2 message with sec and nanosec elements. The scalar is the ROS 2 time in seconds. If the block does not receive a time from the /clock topic, this output is 0.

Data Types: bus | double

Parameters

Output format — Format of ROS 2 time

bus (default) | double

Format of ROS 2 Time output, specified as either bus or double.

Sample time — Interval between outputs

-1 (default) | numeric scalar

Interval between outputs, specified as a numeric scalar.

For more information, see Specify Sample Time (Simulink).

Model Examples

Time Stamp a ROS 2 Message Using Current Time in Simulink

Time stamp a ROS 2 message with the current system time of your computer. Use the Current Time block and assign its output to the stamp field of a std_msgs/Header message. Publish the message on a desired topic.

Open Live Script

Update Header Field of a ROS 2 Message in Simulink

Illustrates how to update the header field of a ROS 2 message using Simulink®.

Open Live Script

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2022b