mteb/BrightProRoboticsRetrieval huggingface dataset:
[ action_tutorials_cpp ](/p/action_tutorials_cpp/github-ros2-demos) [
action_tutorials_interfaces ](/p/action_tutorials_interfaces/github-
ros2-demos) [ action_tutorials_py ](/p/action_tutorials_py/github-ros2-demos)
[ composition ](/p/composition/github-ros2-demos) [ demo_nodes_cpp
](/p/demo_nodes_cpp/github-ros2-demos) [ demo_nodes_cpp_native
](/p/demo_nodes_cpp_native/github-ros2-demos) [ demo_nodes_py
](/p/demo_nodes_py/github-ros2-demos) [ dummy_map_server
](/p/dummy_map_server/github-ros2-demos) [ dummy_robot_bringup
](/p/dummy_robot_bringup/github-ros2-demos) [ dummy_sensors
](/p/dummy_sensors/github-ros2-demos) [ image_tools ](/p/image_tools/github-
ros2-demos) [ intra_process_demo ](/p/intra_process_demo/github-ros2-demos)
lifecycle  [ lifecycle_py ](/p/lifecycle_py/github-ros2-demos) [ logging_demo
](/p/logging_demo/github-ros2-demos) [ pendulum_control
](/p/pendulum_control/github-ros2-demos) [ pendulum_msgs
](/p/pendulum_msgs/github-ros2-demos) [ quality_of_service_demo_cpp
](/p/quality_of_service_demo_cpp/github-ros2-demos) [
quality_of_service_demo_py ](/p/quality_of_service_demo_py/github-ros2-demos)
[ topic_monitor ](/p/topic_monitor/github-ros2-demos) [ topic_statistics_demo
](/p/topic_statistics_demo/github-ros2-demos)  
---|---  
  
github-ros2-demos
Deps  |  |  Name  |  [ ](/p/lifecycle_msgs#ardent-deps) |  [ 1
](/packages/lifecycle_msgs) |  [ lifecycle_msgs ](/p/lifecycle_msgs#ardent)  
---|---|---  
[ ](/p/rclcpp_lifecycle#ardent-deps) |  [ 1 ](/packages/rclcpp_lifecycle) |  [
rclcpp_lifecycle ](/p/rclcpp_lifecycle#ardent)  
[ ](/p/std_msgs#ardent-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#ardent)  
[ ](/p/ament_cmake#ardent-deps) |  [ 1 ](/packages/ament_cmake) |  [
ament_cmake ](/p/ament_cmake#ardent)  
[ ](/p/ros2run#ardent-deps) |  [ 1 ](/packages/ros2run) |  [ ros2run
](/p/ros2run#ardent)  
[ ](/p/ament_lint_auto#ardent-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#ardent)  
[ ](/p/ament_lint_common#ardent-deps) |  [ 1 ](/packages/ament_lint_common) |
[ ament_lint_common ](/p/ament_lint_common#ardent)  
  
###  System Dependencies
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Deps  |  |  Name  |  [ ](/p/lifecycle_msgs#crystal-deps) |  [ 1
](/packages/lifecycle_msgs) |  [ lifecycle_msgs ](/p/lifecycle_msgs#crystal)  
---|---|---  
[ ](/p/rclcpp_lifecycle#crystal-deps) |  [ 1 ](/packages/rclcpp_lifecycle) |
[ rclcpp_lifecycle ](/p/rclcpp_lifecycle#crystal)  
[ ](/p/std_msgs#crystal-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#crystal)  
[ ](/p/ament_cmake#crystal-deps) |  [ 1 ](/packages/ament_cmake) |  [
ament_cmake ](/p/ament_cmake#crystal)  
[ ](/p/ros2run#crystal-deps) |  [ 1 ](/packages/ros2run) |  [ ros2run
](/p/ros2run#crystal)  
[ ](/p/ament_lint_auto#crystal-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#crystal)  
[ ](/p/ament_lint_common#crystal-deps) |  [ 1 ](/packages/ament_lint_common) |
[ ament_lint_common ](/p/ament_lint_common#crystal)  
  
###  System Dependencies
Deps  |  |  Name  |  [ ](/p/lifecycle_msgs#foxy-deps) |  [ 1
](/packages/lifecycle_msgs) |  [ lifecycle_msgs ](/p/lifecycle_msgs#foxy)  
---|---|---  
[ ](/p/rclcpp_lifecycle#foxy-deps) |  [ 1 ](/packages/rclcpp_lifecycle) |  [
rclcpp_lifecycle ](/p/rclcpp_lifecycle#foxy)  
[ ](/p/std_msgs#foxy-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#foxy)  
[ ](/p/ament_cmake#foxy-deps) |  [ 1 ](/packages/ament_cmake) |  [ ament_cmake
](/p/ament_cmake#foxy)  
[ ](/p/ament_lint_auto#foxy-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#foxy)  
[ ](/p/ament_lint_common#foxy-deps) |  [ 1 ](/packages/ament_lint_common) |  [
ament_lint_common ](/p/ament_lint_common#foxy)  
[ ](/p/ros_testing#foxy-deps) |  [ 1 ](/packages/ros_testing) |  [ ros_testing
](/p/ros_testing#foxy)  
  
###  System Dependencies
[ action_tutorials_cpp ](/p/action_tutorials_cpp/github-ros2-demos) [
action_tutorials_interfaces ](/p/action_tutorials_interfaces/github-
ros2-demos) [ action_tutorials_py ](/p/action_tutorials_py/github-ros2-demos)
[ composition ](/p/composition/github-ros2-demos) [ demo_nodes_cpp
](/p/demo_nodes_cpp/github-ros2-demos) [ demo_nodes_cpp_native
](/p/demo_nodes_cpp_native/github-ros2-demos) [ demo_nodes_py
](/p/demo_nodes_py/github-ros2-demos) [ dummy_map_server
](/p/dummy_map_server/github-ros2-demos) [ dummy_robot_bringup
](/p/dummy_robot_bringup/github-ros2-demos) [ dummy_sensors
](/p/dummy_sensors/github-ros2-demos) [ image_tools ](/p/image_tools/github-
ros2-demos) [ intra_process_demo ](/p/intra_process_demo/github-ros2-demos)
lifecycle  [ logging_demo ](/p/logging_demo/github-ros2-demos) [
pendulum_control ](/p/pendulum_control/github-ros2-demos) [ pendulum_msgs
](/p/pendulum_msgs/github-ros2-demos) [ quality_of_service_demo_cpp
](/p/quality_of_service_demo_cpp/github-ros2-demos) [
quality_of_service_demo_py ](/p/quality_of_service_demo_py/github-ros2-demos)
[ topic_monitor ](/p/topic_monitor/github-ros2-demos) [ topic_statistics_demo
](/p/topic_statistics_demo/github-ros2-demos)  
---|---  
  
github-ros2-demos
Deps  |  |  Name  |  [ ](/p/lifecycle_msgs#humble-deps) |  [ 1
](/packages/lifecycle_msgs) |  [ lifecycle_msgs ](/p/lifecycle_msgs#humble)  
---|---|---  
[ ](/p/rclcpp_lifecycle#humble-deps) |  [ 1 ](/packages/rclcpp_lifecycle) |  [
rclcpp_lifecycle ](/p/rclcpp_lifecycle#humble)  
[ ](/p/std_msgs#humble-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#humble)  
[ ](/p/ament_cmake#humble-deps) |  [ 1 ](/packages/ament_cmake) |  [
ament_cmake ](/p/ament_cmake#humble)  
[ ](/p/ament_lint_auto#humble-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#humble)  
[ ](/p/ament_lint_common#humble-deps) |  [ 1 ](/packages/ament_lint_common) |
[ ament_lint_common ](/p/ament_lint_common#humble)  
[ ](/p/ros_testing#humble-deps) |  [ 1 ](/packages/ros_testing) |  [
ros_testing ](/p/ros_testing#humble)  
  
###  System Dependencies
[ Iron (latest) ](hardware_components_userdoc.html)
  
     [ Humble ](../../../../../humble/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.html)
  
     [ Galactic (EOL) ](../../../../../galactic/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.html)
  
     [ Foxy (EOL) ](../../../../../foxy/index.html)
Deps  |  |  Name  |  [ ](/p/lifecycle_msgs#eloquent-deps) |  [ 1
](/packages/lifecycle_msgs) |  [ lifecycle_msgs ](/p/lifecycle_msgs#eloquent)  
---|---|---  
[ ](/p/rclcpp_lifecycle#eloquent-deps) |  [ 1 ](/packages/rclcpp_lifecycle) |
[ rclcpp_lifecycle ](/p/rclcpp_lifecycle#eloquent)  
[ ](/p/std_msgs#eloquent-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#eloquent)  
[ ](/p/ament_cmake#eloquent-deps) |  [ 1 ](/packages/ament_cmake) |  [
ament_cmake ](/p/ament_cmake#eloquent)  
[ ](/p/ament_lint_auto#eloquent-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#eloquent)  
[ ](/p/ament_lint_common#eloquent-deps) |  [ 1 ](/packages/ament_lint_common)
|  [ ament_lint_common ](/p/ament_lint_common#eloquent)  
[ ](/p/ros_testing#eloquent-deps) |  [ 1 ](/packages/ros_testing) |  [
ros_testing ](/p/ros_testing#eloquent)  
  
###  System Dependencies
Deps  |  |  Name  |  [ ](/p/lifecycle_msgs#bouncy-deps) |  [ 1
](/packages/lifecycle_msgs) |  [ lifecycle_msgs ](/p/lifecycle_msgs#bouncy)  
---|---|---  
[ ](/p/rclcpp_lifecycle#bouncy-deps) |  [ 1 ](/packages/rclcpp_lifecycle) |  [
rclcpp_lifecycle ](/p/rclcpp_lifecycle#bouncy)  
[ ](/p/std_msgs#bouncy-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#bouncy)  
[ ](/p/ament_cmake#bouncy-deps) |  [ 1 ](/packages/ament_cmake) |  [
ament_cmake ](/p/ament_cmake#bouncy)  
[ ](/p/ros2run#bouncy-deps) |  [ 1 ](/packages/ros2run) |  [ ros2run
](/p/ros2run#bouncy)  
[ ](/p/ament_lint_auto#bouncy-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#bouncy)  
[ ](/p/ament_lint_common#bouncy-deps) |  [ 1 ](/packages/ament_lint_common) |
[ ament_lint_common ](/p/ament_lint_common#bouncy)  
  
###  System Dependencies
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Jump to bottom
#  Ressource manager hangs up on lifecycle changes  #1103
Closed
[ christophfroehlich ](/christophfroehlich) opened this issue  Aug 22, 2023  ·
6 comments  · Fixed by [ #1279 ](https://github.com/ros-
controls/ros2_control/pull/1279)
Closed
#  Ressource manager hangs up on lifecycle changes  #1103
[ christophfroehlich ](/christophfroehlich) opened this issue  Aug 22, 2023  ·
6 comments  · Fixed by [ #1279 ](https://github.com/ros-
controls/ros2_control/pull/1279)
Labels
* [ Getting Started ](../../../getting_started/getting_started.html)
  * [ ros2_control ](../../doc/index.html)
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    * [ Concepts ](../../doc/index.html#concepts)
      * [ Controller Manager ](../../controller_manager/doc/userdoc.html)
      * [ Controller Chaining / Cascade Control ](../../controller_manager/doc/controller_chaining.html)
      * Hardware Components 
        * Guidelines and Best Practices 
          * [ Hardware Interface Types ](hardware_interface_types_userdoc.html)
          * [ Writing a Hardware Component ](writing_new_hardware_component.html)
          * [ Different Update Rates ](different_update_rates_userdoc.html)
          * Handling of errors that happen during read() and write() calls 
          * Migration from Foxy to newer versions 
      * [ Mock Components ](mock_components_userdoc.html)
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[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_clock_get_now ](time_8h.html#ac411ad081f7acea558554a810461d36d) ( [
rcl_clock_t ](structrcl__clock__t.html) *clock, [ rcl_time_point_t
](structrcl__time__point__t.html) *time_point)  
|  Fill the time point with the current value of the associated clock.
More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_enable_ros_time_override ](time_8h.html#ae19a2d0487f2a01849394f10a03da737)
( [ rcl_clock_t ](structrcl__clock__t.html) *clock)  
|  Enable the ROS time abstraction override.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_disable_ros_time_override
](time_8h.html#a0608b7f86a89d146c86b88892bbf4ed3) ( [ rcl_clock_t
](structrcl__clock__t.html) *clock)  
|  Disable the ROS time abstraction override.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_is_enabled_ros_time_override
](time_8h.html#aebac6161fdb021143c95111bef6358e3) ( [ rcl_clock_t
](structrcl__clock__t.html) *clock, bool *is_enabled)  
|  Check if the ` RCL_ROS_TIME ` time source has the override enabled.
More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_set_ros_time_override ](time_8h.html#a1fee15ebac42449043dfabef4922d618) (
[ rcl_clock_t ](structrcl__clock__t.html) *clock, [ rcl_time_point_value_t
](time_8h.html#a504861cd584105c7ddfea1dd6539f8e8) time_value)  
|  Set the current time for this ` RCL_ROS_TIME ` time source.  More...  
  
  
##  Macro Definition Documentation
RCUTILS_NS_TO_MS
](http://docs.ros2.org/ardent/api/rcutils/time_8h.html#a32b8b03e8399363992e8b7b2275072d2)  
|  Convenience macro to convert nanoseconds to milliseconds.  More...  
  
#define  |  [ RCL_NS_TO_US ](time_8h.html#a3d9a69217c72e18a5b94ac714681ae1c) [
RCUTILS_NS_TO_US
](http://docs.ros2.org/ardent/api/rcutils/time_8h.html#a2f4bb125791d58045e4b6d57c83b6209)  
|  Convenience macro to convert nanoseconds to microseconds.  More...  
  
  
##  Typedefs  
  
---  
typedef [ rcutils_time_point_value_t
](http://docs.ros2.org/ardent/api/rcutils/time_8h.html#a14de75ad74511cd94d4964c6422564e6)
|  [ rcl_time_point_value_t ](time_8h.html#a504861cd584105c7ddfea1dd6539f8e8)  
|  A single point in time, measured in nanoseconds since the Unix epoch.
More...  
  
typedef [ rcutils_duration_value_t
](http://docs.ros2.org/ardent/api/rcutils/time_8h.html#a7fd03e84bd0de8c6e189bf2a21cf3946)
|  [ rcl_duration_value_t ](time_8h.html#acf6c7e80500a4ed249168d1d5866f09a)  
|  A duration of time, measured in nanoseconds.  More...  
  
typedef enum [ rcl_clock_type_t
](time_8h.html#a5c734f508ce06aec7974af10ad09d071) |  [ rcl_clock_type_t
](time_8h.html#a4bd4c56c46a056fb155e225ca3726885)  
|  Time source type, used to indicate the source of a time measurement.
More...  
  
typedef struct [ rcl_clock_t ](structrcl__clock__t.html) |  [ rcl_clock_t
](time_8h.html#a5cf0b96b0d4e809381b8b24e1d47e890)  
|  Encapsulation of a time source.  More...  
  
typedef struct [ rcl_time_point_t ](structrcl__time__point__t.html) |  [
rcl_time_point_t ](time_8h.html#aa21896a85e4005fd9ef40f67625c7e4e)  
|  A single point in time, measured in nanoseconds, the reference point is
based on the source.  More...  
  
typedef struct [ rcl_duration_t ](structrcl__duration__t.html) |  [
* [ Contributing to ROS 2 Documentation ](../../The-ROS2-Project/Contributing/Contributing-To-ROS-2-Documentation.html)
    * [ Features Status ](../../The-ROS2-Project/Features.html)
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      * [ ROS 2 Technical Steering Committee Charter ](../../The-ROS2-Project/Governance/ROS2-TSC-Charter.html)
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      * [ How to Start a Community Working Group ](../../The-ROS2-Project/Governance/How-To-Start-A-Community-Working-Group.html)
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  * [ Glossary ](../../Glossary.html)
  * [ Citations ](../../Citations.html)
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_ros_clock_init ](time_8h.html#abb633aa71d9479bbf66c3fbc55d28f4a) ( [
rcl_clock_t ](structrcl__clock__t.html) *clock, [ rcl_allocator_t
](allocator_8h.html#ac7146d98a03ca836efa0d0d77c78984c) *allocator)  
|  Initialize a clock as a RCL_ROS_TIME time source.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_ros_clock_fini ](time_8h.html#a3ef06ff7e2502f0d8ea35471e294a15b) ( [
rcl_clock_t ](structrcl__clock__t.html) *clock)  
|  Finalize a clock as a ` RCL_ROS_TIME ` time source.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_steady_clock_init ](time_8h.html#a21f3f7dc409aca89bf47e9dbd20b9131) ( [
rcl_clock_t ](structrcl__clock__t.html) *clock, [ rcl_allocator_t
](allocator_8h.html#ac7146d98a03ca836efa0d0d77c78984c) *allocator)  
|  Initialize a clock as a ` RCL_STEADY_TIME ` time source.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_steady_clock_fini ](time_8h.html#a138ee1f2510700becae5772a9da4de02) ( [
rcl_clock_t ](structrcl__clock__t.html) *clock)  
|  Finalize a clock as a ` RCL_STEADY_TIME ` time source.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_system_clock_init ](time_8h.html#ad994c08334a592682c66b4214c6b12f0) ( [
rcl_clock_t ](structrcl__clock__t.html) *clock, [ rcl_allocator_t
](allocator_8h.html#ac7146d98a03ca836efa0d0d77c78984c) *allocator)  
|  Initialize a clock as a ` RCL_SYSTEM_TIME ` time source.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_system_clock_fini ](time_8h.html#afe67d05b2d2c4e5bfcec40fcee1ec84a) ( [
rcl_clock_t ](structrcl__clock__t.html) *clock)  
|  Finalize a clock as a ` RCL_SYSTEM_TIME ` time source.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_difference_times ](time_8h.html#a39207579484ea036093170e8d0c2955c) ( [
rcl_time_point_t ](structrcl__time__point__t.html) *start, [ rcl_time_point_t
](structrcl__time__point__t.html) *finish, [ rcl_duration_t
](structrcl__duration__t.html) *delta)  
|  Compute the difference between two time points.  More...
rcl_duration_t ](time_8h.html#ae40b4a93b882580708a9d2cad3dab077)  
|  A duration of time, measured in nanoseconds and its source.  More...  
  
  
##  Enumerations  
  
---  
enum  |  [ rcl_clock_type_t ](time_8h.html#a5c734f508ce06aec7974af10ad09d071)
{ [ RCL_CLOCK_UNINITIALIZED
](time_8h.html#a5c734f508ce06aec7974af10ad09d071a529af8240ca9a5ca9ad5246f245e4f78)
= 0, [ RCL_ROS_TIME
](time_8h.html#a5c734f508ce06aec7974af10ad09d071a3ad5b0e7c618d4b050a88e1c6a721888)
, [ RCL_SYSTEM_TIME
](time_8h.html#a5c734f508ce06aec7974af10ad09d071a423b9ea49c5f5119c3b9b812c01e6bc9)
, [ RCL_STEADY_TIME
](time_8h.html#a5c734f508ce06aec7974af10ad09d071a57ed8e9becda146fecef1e0e894eb828)
}  
|  Time source type, used to indicate the source of a time measurement. [
More... ](time_8h.html#a5c734f508ce06aec7974af10ad09d071)  
  
  
##  Functions  
  
---  
bool  |  [ rcl_clock_valid ](time_8h.html#af31a56ad09ba849983b8969794e09e93) (
[ rcl_clock_t ](structrcl__clock__t.html) *clock)  
|  Check if the clock has valid values.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_clock_init ](time_8h.html#a532ecf48864c752c8aafd0103a1ac5e7) (enum [
rcl_clock_type_t ](time_8h.html#a5c734f508ce06aec7974af10ad09d071) clock_type,
[ rcl_clock_t ](structrcl__clock__t.html) *clock, [ rcl_allocator_t
](allocator_8h.html#ac7146d98a03ca836efa0d0d77c78984c) *allocator)  
|  Initialize a clock based on the passed type.  More...  
  
[ rcl_ret_t ](types_8h.html#af66ec2e20118b821dbf3f9b0067e8796) |  [
rcl_clock_fini ](time_8h.html#adcbaa99199e30d33dcf103aa510f65ff) ( [
rcl_clock_t ](structrcl__clock__t.html) *clock)  
|  Finalize a clock.  More...
[ Iron (latest) ](../../../iron/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html)
     [ Humble ](../../../humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html)
     [ Galactic (EOL) ](../../../galactic/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html)
     [ Foxy (EOL) ](Writing-A-Simple-Cpp-Service-And-Client.html)
     [ Eloquent (EOL) ](../../../eloquent/index.html)
     [ Dashing (EOL) ](../../../dashing/index.html)
     [ Crystal (EOL) ](../../../crystal/index.html)
##  Classes  
  
---  
struct  |  [ rcl_clock_t ](structrcl__clock__t.html)  
|  Encapsulation of a time source. [ More...
](structrcl__clock__t.html#details)  
  
struct  |  [ rcl_time_point_t ](structrcl__time__point__t.html)  
|  A single point in time, measured in nanoseconds, the reference point is
based on the source. [ More... ](structrcl__time__point__t.html#details)  
  
struct  |  [ rcl_duration_t ](structrcl__duration__t.html)  
|  A duration of time, measured in nanoseconds and its source. [ More...
](structrcl__duration__t.html#details)  
  
  
##  Macros  
  
---  
#define  |  [ RCL_S_TO_NS ](time_8h.html#ae5d06bff1a071f6b27f8bfc9a345381a) [
RCUTILS_S_TO_NS
](http://docs.ros2.org/ardent/api/rcutils/time_8h.html#a09bb0400aa6b85f877d616e7475aa173)  
|  Convenience macro to convert seconds to nanoseconds.  More...  
  
#define  |  [ RCL_MS_TO_NS ](time_8h.html#a2b6c1f35e2df71ebccae0921ffae7e6b) [
RCUTILS_MS_TO_NS
](http://docs.ros2.org/ardent/api/rcutils/time_8h.html#a428e1debfc4394e50ba59f1aaa2a5a03)  
|  Convenience macro to convert milliseconds to nanoseconds.  More...  
  
#define  |  [ RCL_US_TO_NS ](time_8h.html#aa5e7d0265c2375837f27bd2d76afc5f1) [
RCUTILS_US_TO_NS
](http://docs.ros2.org/ardent/api/rcutils/time_8h.html#abfe5ac86d1a02406a218b145ab79c498)  
|  Convenience macro to convert microseconds to nanoseconds.  More...  
  
#define  |  [ RCL_NS_TO_S ](time_8h.html#a4307e936b4e2e7a3932d7551671ff559) [
RCUTILS_NS_TO_S
](http://docs.ros2.org/ardent/api/rcutils/time_8h.html#aa67004f0b6b3206da7b72b7ed8dd7914)  
|  Convenience macro to convert nanoseconds to seconds.  More...  
  
#define  |  [ RCL_NS_TO_MS ](time_8h.html#acf4f610a691fd821091d6345e65e2e8b) [
[ get_sub_namespace() ](classrclcpp_1_1Node.html#aa9ac5055f3f7a3537642482bd505d4bd "Return the sub-namespace, if this is a sub-node, otherwise an empty string.")
     [ get_effective_namespace() ](classrclcpp_1_1Node.html#afe4790bba38942b795d24b6ccb3e9c5a "Return the effective namespace that is used when creating entities.")