'/clock' Topic cannot change each loop step time from simulation time about rclcpp HOT 10 OPEN

Please note that rclcpp::Rate use RCL_SYSTEM_TIME in default. Do you change it ?

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I have been set use_sim_time=true
https://design.ros2.org/articles/clock_and_time.html

use_sim_time is set on the node, but Rate object. with your example, as @Barry-Xu-2018 mentions, Rate is instantiated with system time as default, not simulation time. I think you need to set RCL_SYSTEM_TIME for Rate, the it can get the time from simulation clock.

this->get_clock()->now() or this->now() can get the sim time,

assuming that this is the Node. because the use_sim_time is set to true, clock belongs to node is now set to simulation clock. so that it can get simulation clock.

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How do you create timer to publish messages ?
create_wall_timer or create_timer
Simulate time doesn't affect create_wall_timer.

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How do you create timer to publish messages ? create_wall_timer or create_timer Simulate time doesn't affect create_wall_timer.

Hi, Barry. In simulation, i used rclcpp::Rate loop_rate(ctrl_freq); And In a
while(rclcpp::ok()) { rclcpp::spin_some(mynode); //my program loop_rate.sleep(); }

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Please note that rclcpp::Rate use RCL_SYSTEM_TIME in default. Do you change it ?

rclcpp/rclcpp/include/rclcpp/rate.hpp

Lines 133 to 146 in 348e22a

	class Rate : public RateBase
	{
	public:
	RCLCPP_SMART_PTR_DEFINITIONS(Rate)
	RCLCPP_PUBLIC
	explicit Rate(
	const double rate,
	Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
	RCLCPP_PUBLIC
	explicit Rate(
	const Duration & period,
	Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));

I have been set use_sim_time=true
https://design.ros2.org/articles/clock_and_time.html

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As fujitatomoya said，you should modify code on creating Rate.

rclcpp::Rate loop_rate(ctrl_freq, std::make_shared(RCL_ROS_TIME));

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As fujitatomoya said，you should modify code on creating Rate.

rclcpp::Rate loop_rate(ctrl_freq, std::make_shared(RCL_ROS_TIME));
I have tried add this code. But have some error in IDE, my ros2 version is foxy
error: no matching function for call to ‘make_shared(rcl_clock_type_t)’
268 | rclcpp::Rate loop_rate(ctrl_freq, std::make_shared(RCL_ROS_TIME));

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I have tried add this code. But have some error in IDE, my ros2 version is foxy

Foxy is already E.O.L, can you use humble or later instead?

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For Foxy, you should create a Clock with RCL_ROS_TIME

Create a new "Rate" like with above Clock.

BTW, foxy is EOL.
So it's best to upgrade to the Humble or Iron version.

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