private void SimTimeCallback(Messages.rosgraph_msgs.Clock time) { if (!checkedSimTime) { if (Param.get("/use_sim_time", ref simTime)) { checkedSimTime = true; if (simTime) { ROS.Warn("Switching to sim time"); } } } if (simTime && SimTimeEvent != null) { SimTimeEvent(TimeSpan.FromMilliseconds(time.clock.data.sec * 1000.0 + (time.clock.data.nsec / 100000000.0))); } }