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                                            fengzhongsu

'/clock' Topic cannot change each loop step time from simulation time

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'/clock' Topic cannot change each loop step time from simulation time

> How do you create timer to publish messages ? create_wall_timer or create_timer Simulate time doesn't affect create_wall_timer. Hi, Barry. In simulation, i used rclcpp::Rate loop_rate(ctrl_freq); And In a `while(rclcpp::ok())...

'/clock' Topic cannot change each loop step time from simulation time

> Please note that rclcpp::Rate use `RCL_SYSTEM_TIME` in default. Do you change it ? > > https://github.com/ros2/rclcpp/blob/348e22a48641bf2622f81e562ad3cb7bf910a183/rclcpp/include/rclcpp/rate.hpp#L133-L146 I have been set use_sim_time=true https://design.ros2.org/articles/clock_and_time.html

'/clock' Topic cannot change each loop step time from simulation time

> As fujitatomoya said，you should modify code on creating Rate. > > rclcpp::Rate loop_rate(ctrl_freq, std::make_shared(RCL_ROS_TIME)); I have tried add this code. But have some error in IDE, my ros2 version...

'/clock' Topic cannot change each loop step time from simulation time

您好，我已受到您的来信