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tier4_simulated_clock_rviz_plugin#

Purpose#

This plugin allows publishing and controlling the simulated ROS time.

Output#

Name Type Description
/clock rosgraph_msgs::msg::Clock the current simulated time

HowToUse#

  1. Start rviz and select panels/Add new panel. select_panel
  2. Select tier4_clock_rviz_plugin/SimulatedClock and press OK. select_clock_plugin
  3. Use the added panel to control how the simulated clock is published. use_clock_plugin

    • Pause button: pause/resume the clock.
    • Speed: speed of the clock relative to the system clock.
    • Rate: publishing rate of the clock.
    • Step button: advance the clock by the specified time step.
    • Time step: value used to advance the clock when pressing the step button d).
    • Time unit: time unit associated with the value from e).
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