This maybe could be a standalone repo, but could go here also- needs to have control over time, but it has to be able to keep working while time is stopped. Dynamic reconfigure, services, and topics can all be use to stop, step, slow and speed up the passage of the clock.
Going backwards in time is another possibility, though a lot of ros tools complain, and this would require extensive simulation support. That would be a separate issue as well. And there could be a mode where time doesn't go backwards anywhere except within the sim, to keep other tools happy... which suggests even without going backwards there may need to be a basic ability to decouple simulation time from ros clock time.
This maybe could be a standalone repo, but could go here also- needs to have control over time, but it has to be able to keep working while time is stopped. Dynamic reconfigure, services, and topics can all be use to stop, step, slow and speed up the passage of the clock.
Going backwards in time is another possibility, though a lot of ros tools complain, and this would require extensive simulation support. That would be a separate issue as well. And there could be a mode where time doesn't go backwards anywhere except within the sim, to keep other tools happy... which suggests even without going backwards there may need to be a basic ability to decouple simulation time from ros clock time.