rostime.py

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"""
Stand-ins for `rospy.rostime` in ROS2.
 
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This file is part of rosros - simple unified interface to ROS1 / ROS2.
Released under the BSD License.
 
@author      Erki Suurjaak
@created     30.05.2022
@modified    25.06.2022
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"""
## @namespace rosros.rospify.rostime
from .. import ros2
 
import rclpy.duration
import rclpy.time
 
## Stand-in for `rospy.Duration`
Duration = rclpy.duration.Duration
 
## Stand-in for `rospy.Time`
Time = rclpy.time.Time
 
 
def get_rostime():
    """Returns current ROS time as `rclpy.Time`."""
    return ros2.get_rostime()
 
 
def get_time():
    """Returns the current ROS time as UNIX timestamp float."""
    return ros2.to_sec(ros2.get_rostime())
 
 
__all__ = [
    "Duration", "Time", "get_rostime", "get_time"
]