[ros-users] [Discourse.ros.org] [Next Generation ROS] Of clocks and simulation, betimes and otherwise

[Brannon King]

It would seem that rclcpp::Time::now() -- a static method -- would not be what we want if that method is built from subscribed data. Instead, it would need to live on node. You would call a node instance method to get the current time, which time would be computed or pulled from the system clock if there is nothing to compute the time from. That way, the node could subscribe for whatever global messages it wants to behind the scenes.






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