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This ticket is to track rclpy specific time impelementation requirements
- implement a Clock on top of rcl implementation: Time, Duration, Clock wrapping rcl #209
- implement a TimeSource to implement the ROS2 time design: TimeSource and support for ROS time #210
- use parameters for
use_sim_timewhennow that parameters are available in rclpy. Respect the use_sim_time parameter for rclpy nodes #240 - clock jump callbacks: Callbacks when time jumps #222
- use parameters for
- upgrade Timer to use a Clock on top of rcl implementation
- functionality using rcl clocks: create timer with clock #211
- let users specify the clock to use: update this TODO Timer uses ROS time by default #419
- Implement a Rate method using the clock on top of rcl implementation (Add Rate #443)
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