From 2651b993967eab87961d7fec7d0b7ec134b6d658 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Thu, 24 Oct 2024 18:13:02 +0200
Subject: [PATCH 1/2] make ros2_control_node handle simulation environments

---
 controller_manager/src/ros2_control_node.cpp | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
index e0094b7e01..953e26e5bb 100644
--- a/controller_manager/src/ros2_control_node.cpp
+++ b/controller_manager/src/ros2_control_node.cpp
@@ -57,10 +57,12 @@ int main(int argc, char ** argv)
   auto cm = std::make_shared<controller_manager::ControllerManager>(
     executor, manager_node_name, "", cm_node_options);
 
+  const bool use_sim_time = cm->get_parameter_or("use_sim_time", false);
+  rclcpp::Rate rate(cm->get_update_rate(), cm->get_clock());
   RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
 
   std::thread cm_thread(
-    [cm]()
+    [cm, use_sim_time, &rate]()
     {
       if (!realtime_tools::configure_sched_fifo(kSchedPriority))
       {
@@ -101,7 +103,14 @@ int main(int argc, char ** argv)
 
         // wait until we hit the end of the period
         next_iteration_time += period;
-        std::this_thread::sleep_until(next_iteration_time);
+        if (use_sim_time)
+        {
+          rate.sleep();
+        }
+        else
+        {
+          std::this_thread::sleep_until(next_iteration_time);
+        }
       }
 
       cm->shutdown_async_controllers_and_components();

From bb5f0f15d80d05395c8aba4918e59a6a617a9c22 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Thu, 24 Oct 2024 18:16:08 +0200
Subject: [PATCH 2/2] add release_notes

---
 doc/release_notes.rst | 1 +
 1 file changed, 1 insertion(+)

diff --git a/doc/release_notes.rst b/doc/release_notes.rst
index 611e8d8176..a25c743e0b 100644
--- a/doc/release_notes.rst
+++ b/doc/release_notes.rst
@@ -76,6 +76,7 @@ controller_manager
 * The ``--controller-type`` or ``-t`` spawner arg is removed. Now the controller type is defined in the controller configuration file with ``type`` field (`#1639 <https://github.com/ros-controls/ros2_control/pull/1639>`_).
 * The ``--namespace`` or ``-n`` spawner arg is deprecated. Now the spawner namespace can be defined using the ROS 2 standard way (`#1640 <https://github.com/ros-controls/ros2_control/pull/1640>`_).
 * Added support for the wildcard entries for the controller configuration files (`#1724 <https://github.com/ros-controls/ros2_control/pull/1724>`_).
+* ``ros2_control_node`` can now handle the sim time used by different simulators, when ``use_sim_time`` is set to true (`#1810 <https://github.com/ros-controls/ros2_control/pull/1810>`_).
 
 hardware_interface
 ******************