Lifecycle nodes don't use simulation time when use_sim_time set

[mjeronimo]

Bug report

Required Info:

• Operating System: Ubuntu 18.04
• Installation type: source
• Version or commit hash: 10d7b7c
• DDS implementation: Fast-RTPS
• Client library (if applicable): rclcpp

Steps to reproduce issue

• Set use_sim_time parameter on a LifecycleNode
• Later, in a message callback, for example, print out the value of node->now()

Expected behavior

The time would be relative to the simulation clock

Actual behavior

It is relative to the system clock

[Karsten1987]

@mjeronimo is this issue related to #642? Or can you correctly set the use_sim_time parameter?

Also, would you mind providing a reproducible example here?

[mjeronimo]

@Karsten1987 No, not related to #642. Yes, I'll come up with an example for you.

[mjeronimo]

@Karsten1987

• Use the lifecycle demo from https://github.com/ros2/demos/tree/master/lifecycle
• Replace lifecycle_talker.cpp with the attached file and build
• Launch gazebo. For example, I used: gazebo --verbose -s libgazebo_ros_init.so ~/src/turtlebot3/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3.world
• Run the lifecycle demo as normal

Once the lifecycle node is activated, the output shows that the lifecycle node's time is the system time, while the normal node's time is relative to /clock. Both nodes have use_sim_time set (see the code).

lifecycle_talker.cpp.tar.gz

[Karsten1987]

with #651 being merged can this issue be closed?

[mjeronimo]

@Karsten1987 Yes, that one fixes it and this issue can be closed.