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.
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