sim-time-management

To keep ROS 2 sim time in sync, configure launch files and YAML parameters to enable use_sim_time globally. This ensures TF, headers, and timers rely on a common simulated clock published via ros_gz_bridge.

Timing mismatches occur when use_sim_time is not propagated consistently across launch files and parameter overrides. Aligning clocks and verifying /clock publication prevents component desynchronization during real-time simulations.

The best way to configure use_sim_time is applying parameter overrides directly within ROS 2 launch files and YAML configurations. This enforces simulated time globally across all nodes, preventing configuration drift.

Yes, ros_gz_bridge maintains clock coherence by bridging the Gazebo clock into ROS 2. Enabling use_sim_time ensures all connected nodes switch to the simulated time and align their timers correctly.

Verify sim-time inheritance by checking /clock topic publication and inspecting node time settings. Debug and validation steps confirm every node switches to simulated time, avoiding desynchronization issues.