In C++ ROS time is operational using the `/clock` topic if the parameter `use_sim_time` is set, following the [Clock and TIme design article](
http://design.ros2.org/articles/clock_and_time.html).
The rclcpp Node has been extended to automatically setup a time source and provides [`now()`](
https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/node.hpp#L376) and [`get_clock()`](
https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/node.hpp#L372) convenience methods.
It has not been tested with the bridge and ROS1. I suspect that it would work if the right alias is defined between ROS1's `std_msgs/Time` and ROS2's `builtin_msgs/Time` as the datatypes are the same and the topic is the same.
Note that there's slightly different semantics on the parameter too as it's on the node and not global anymore.
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