It would seem that rclcpp::Time::now() -- a static method -- would not be what we want if that method is built from subscribed data. Instead, it would need to live on node. You would call a node instance method to get the current time, which time would be computed or pulled from the system clock if there is nothing to compute the time from. That way, the node could subscribe for whatever global messages it wants to behind the scenes. --- [Visit Topic](https://discourse.ros.org/t/of-clocks-and-simulation-betimes-and-otherwise/1587/5) 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: