Ros2Utils.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_ROS2_ROS2UTILS_H
#define YARP_ROS2_ROS2UTILS_H
 
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/header.hpp>
 
class NodeCreator
{
public:
    static rclcpp::Node::SharedPtr createNode(std::string name);
    static rclcpp::Node::SharedPtr createNode(std::string name, rclcpp::NodeOptions& node_options);
};
 
 
builtin_interfaces::msg::Time ros2TimeFromYarp(double yarpTime);
double yarpTimeFromRos2(builtin_interfaces::msg::Time ros2Time);
 
#endif // YARP_ROS2_ROS2UTILS_H