Publisher#
Publisher-based object provides a set of timestamps collected during message publish.
A simplified sequence diagram focusing only on the relevant events is shown below.
to_dataframe API returns a table which has the following columns.
| Column | Type | Description |
|---|---|---|
| rclcpp_publish_timestamp | System time | min(rclcpp_intra_publish_timestamp, rclcpp_publish_timestamp) |
| rclcpp_intra_publish_timestamp | System time (Optional) | Publish time of intra-process communication |
| rclcpp_publish_timestamp | System time (Optional) | Publish time of inter-process communication in rclcpp |
| rcl_publish_timestamp | System time(Optional) | Publish time of inter-process communication in rcl |
| dds_write_timestamp | System time(Optional) | Publish time of inter-process communication in rmw |
| message_timestamp | Message data | Time of header.stamp. Zero when header is not defined. |
| source timestamp | Depends on DDS (Optional) | Timestamp to used for binding with subscription. |
See also