Feature Request: Direct access to simulation time


I want to sync my ROS nodes with the simulation by creating a clock server. Currently (as far as I know) the only way to access simulation time is through the timestamps we can get from the sensor data.

My current [theoretical] workaround is to create an arbitrary sensor, attach it to a dummy object and have the sensor_tick set to a low value. I’m kinda sure it won’t work as intended because in the end, the data frequency is limited by the simulation speed. I can (and do) use synchronous mode but there is no guarantee that the simulation runs as fast as I send ticks.

CARLA Version: 0.9.8-66-gb62ccb1-dirty