Update ros2_control_node.cpp

[ObeidHaidar]

No description provided.

[ObeidHaidar]

Had similar issues to what's described in #859.

There could be a better way to solve this, but this works on both simulated and real machines.

[olivier-stasse]

Dear @ObeidHaidar could you elaborate a bit on the test you did in simulation ?
Having heavy controllers to test and complex dynamics to simulate, will this modification works on simulation where you assume that simulation takes no CPU power ?

[olivier-stasse]

It looks like the ROS way to do what you want is to follow https://github.com/ros2/rclcpp/blob/399f4df7396d67b42ccaea651bbd87d66b0d62b3/rclcpp/test/rclcpp/test_time_source.cpp#L284
Because according to https://github.com/ros2/rclcpp/blob/399f4df7396d67b42ccaea651bbd87d66b0d62b3/rclcpp/test/rclcpp/test_time_source.cpp#L291
steady clock and use_sim_time cannot be used together as mentioned by @destogl in #859 (or this is how I understand it)

[destogl]

@ObeidHaidar which kind of simulation are you using? This not shouldn't be used in simulation at all. The simulation is setting time there not the node.

[destogl]

ping @ObeidHaidar can you refer to the qustions?

[ObeidHaidar]

Will keep applying the fix in my own branch.