[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS 2 …

@sloretz: You can wrap the clock provided by the node again in a `std::chrono` clock wrapper and you would have simulation time available.:

```
struct ros2_node_clock
{
  ros2_node_clock(std::shared_ptr<Clock> clock) : m_clock(clock) {}
  typedef std::chrono::nanoseconds                 duration;
  typedef duration::rep                      rep;
  typedef duration::period                      period;
  typedef std::chrono::time_point<ros2_clock, duration>     time_point;

static constexpr bool is_steady = false;

  static time_point
  now() noexcept {
    return time_point(duration(clock->now().nanoseconds()));
  }

std::shared_ptr<Clock> m_clock;
};

ros2_node_clock rclcpp::None::get_std_clock() {
return ros2_node_clock(get_clock());
}
```

The additional safety of not mixing clocks is lost in this case, but ROS 2 time is also not safe in this regard and not likely solvable.





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