The theoretical ideas behind this abstraction are in this design doc: http://design.ros2.org/articles/clock_and_time.html @tfoote might be able to give more pointers, he was the architect of this part of `rcl`. Also, we don't really have a good example of how this should be used, as far as I can find, at the moment. I think the ideas was that we would do that once we had it exposed in c++ and python. --- [Visit Topic](https://discourse.ros.org/t/ros-time-in-beta1/1003/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: