Method publish_timer

turtlebot3_node/src/turtlebot3.cpp:232–247

}

void TurtleBot3::publish_timer(const std::chrono::milliseconds timeout)
{
  publish_timer_ = this->create_wall_timer(
    timeout,
    [this]() -> void
    {
      rclcpp::Time now = this->now();

      dxl_sdk_wrapper_->read_data_set();

      for (const auto & sensor : sensors_) {
        sensor->publish(now, dxl_sdk_wrapper_);
      }
    }
  );
}

void TurtleBot3::heartbeat_timer(const std::chrono::milliseconds timeout)
{