CoppeliaSim: 在ROS中使用仿真时间作为运行时间

https://forum.coppeliarobotics.com/viewtopic.php?f=7&t=179

在lanuch文件中设置
<param name="use_sim_time" value="true"/>
设置该参数为真后，ROS TIME将一直为0直到订阅到节点/clock，并以/clock作为ROS TIME

在仿真脚本中发布`/clock’主题

function sysCall_init()
	clockpub=simROS.advertise('/clock','rosgraph_msgs/Clock')
	simROS.publisherTreatUInt8ArrayAsString(clockpub) -- treat uint8 arrays as strings (much faster, tables/arrays are kind of slow in Lua)
end

function sysCall_sensing()
	simROS.publish(clockpub,{clock=sim.getSystemTime()})
end