/// <summary>
/// Convert TimeSpan to TimeData
/// </summary>
/// <param name="timestamp"> The timespan to convert to seconds/nanoseconds </param>
/// <returns> a time struct </returns>
public static TimeData GetTime(TimeSpan timestamp)
{
if (lastSimTimeReceived != default(TimeSpan))
{
timestamp = timestamp.Subtract(lastSimTimeReceived).Add(lastSimTime);
}
return(TimeData.FromTicks(timestamp.Ticks));
}
/// <summary>
/// Gets the current time or the last received sim time as std_msgs/Time
/// </summary>
/// <returns>Current time or the last received sim time as std_msgs/Time</returns>
public static std_msgs.Time Now()
{
if (SimTime.Instance.IsTimeSimulated && lastSimTime != default)
{
return(new std_msgs.Time(TimeData.FromTicks(lastSimTime.Ticks)));
}
return(ToTimeMessage(DateTime.UtcNow));
}
