ROS2 client crashes when reaching waypoint to soon

[eliasdc]

Bug report

Required information:

• Operating system and version:
  • Ubuntu 20.04
• OpenRMF installation type:
  • source
• OpenRMF version or commit hash
  • main branch ros2
• ROS distribution and version:
  • foxy & galactic
• ROS installation type:
  • binary

Description of the bug

When running free fleet ros2 client and server in simulation and the robot reaches the goal to soon the node will crash. The reason is that the default clock type of ros2 messages is ROS_TIME and the default constructor of Time uses SYSTEM_TIME.

Additional information

Will push a pull request to fix this issue.