From 0fca432fe4651433c60f82ff0094e72fc2820738 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Fri, 1 Dec 2023 19:03:52 +0100
Subject: [PATCH] fix sim time

---
 rosbot_gazebo/test/test_utils.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/rosbot_gazebo/test/test_utils.py b/rosbot_gazebo/test/test_utils.py
index 6e331275..60402b01 100644
--- a/rosbot_gazebo/test/test_utils.py
+++ b/rosbot_gazebo/test/test_utils.py
@@ -38,6 +38,10 @@ class SimulationTestNode(Node):
     def __init__(self, name="test_node"):
         super().__init__(name)
 
+        # Use simulation time to correct run on slow machine
+        use_sim_time = rclpy.parameter.Parameter("use_sim_time", rclpy.Parameter.Type.BOOL, True)
+        self.set_parameters([use_sim_time])
+
         self.VELOCITY_STABILIZATION_DELAY = 3
         self.goal_received_time = 1e-9 * self.get_clock().now().nanoseconds
         self.vel_stabilization_time_event = Event()