Cannot set the use_sim_time parameter on the realsense_ros2_camera node.

[ghost]

I started a simulation for a robot in an empty world and wanted to test my navigation obstacle detection using VoxelLayer plugin with the Realsense D435i camera.

However, despite passing the use_sim_time:=True parameter, the msgs still have epoch stamp.

ros2 launch realsense_ros2_camera rs.launch.py use_sim_time:=True

[ghost]

I was able to solve this issue by passing rclcpp::NodeOptions() to the node initialization in realsense_camera_node.cpp.

My main function:

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  auto node = std::make_shared<realsense_ros2_camera::RealSenseCameraNode>(rclcpp::NodeOptions());
  node->onInit();
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}

Also made the corresponding changes in the class declaration for RealSenseCameraNode:

class RealSenseCameraNode : public rclcpp::Node
{
public:
  RealSenseCameraNode(const rclcpp::NodeOptions & options)
  : Node("RealSenseCameraNode", options),
      _serial_no(""),
    _base_frame_id(""),
    qos(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)),
    _intialize_time_base(false)
  {
    RCLCPP_INFO(logger_, "RealSense ROS v%s", REALSENSE_ROS_VERSION_STR);
    RCLCPP_INFO(logger_, "Running with LibRealSense v%s", RS2_API_VERSION_STR)
    ....
    ....

After which I could make use of the clock provided to the node (/clock in case of 'use_sim_time' being set) by calling this->now() instead of _ros_clock.now()