Node::create_wall_timer

node.cpp

template<typename DurationT, typename CallbackT>
typename rclcpp::WallTimer<CallbackT>::SharedPtr
Node::create_wall_timer(
  std::chrono::duration<int64_t, DurationT> period,
  CallbackT callback,
  rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
  auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
    std::move(callback));
  node_timers_->add_timer(timer, group);
  return timer;
}

timer.hpp

template<typename CallbackType>
using WallTimer = GenericTimer<CallbackType, std::chrono::steady_clock>;