Description

Allow rosbag2 to listen to the /clock topic as its time source. This would allow for rosbag2 to play in sync with Gazebo, or to synchronize multiple bag playbacks with each other (one publishes /clock, the rest subscribe)

This should probably be invoked by ros2 bag play --use-ros-time

Related Issues

Related to #99
Designed by #675

Implementation Notes / Suggestions

See #675

Testing Notes / Suggestions

Run a bag playback with a separate clock publisher, and see that messages are published when expected.