serializers.py 文件源码

def iso8601_to_rostime(iso):
    """Converts ISO 8601 time to ROS Time.

    Args:
        iso: ISO 8601 encoded string.

    Returns:
        std_msgs/Time.
    """
    # Convert to datetime in UTC.
    t = dateutil.parser.parse(iso)
    if not t.utcoffset():
        t = t.replace(tzinfo=tzutc())

    # Convert to time from epoch in UTC.
    epoch = datetime.utcfromtimestamp(0)
    epoch = epoch.replace(tzinfo=tzutc())
    dt = t - epoch

    # Create ROS message.
    time = Time()
    time.data.secs = int(dt.total_seconds())
    time.data.nsecs = dt.microseconds * 1000

    return time