From 13ec992764cb1da2da077b909258339fa7691ee1 Mon Sep 17 00:00:00 2001
From: Antonin Rousset <AntoninRousset@users.noreply.github.com>
Date: Fri, 18 Aug 2023 07:10:27 +0200
Subject: [PATCH] Fix wrong clock message type (#928)

Co-authored-by: AntoninRousset <antonin@i-r-s.ch>
---
 lib/time_source.js       | 4 ++--
 test/test-time-source.js | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/lib/time_source.js b/lib/time_source.js
index 3d2edf9b..d08928a1 100644
--- a/lib/time_source.js
+++ b/lib/time_source.js
@@ -176,7 +176,7 @@ class TimeSource {
   }
 
   _clockCallback(msg) {
-    this._lastTimeSet = Time.fromMsg(msg);
+    this._lastTimeSet = Time.fromMsg(msg.clock);
     this._associatedClocks.forEach((clock) => {
       clock.rosTimeOverride = this._lastTimeSet;
     });
@@ -185,7 +185,7 @@ class TimeSource {
   _subscribeToClockTopic() {
     if (!this._clockSubscription && this._node) {
       this._clockSubscription = this._node.createSubscription(
-        'builtin_interfaces/msg/Time',
+        'rosgraph_msgs/msg/Clock',
         CLOCK_TOPIC,
         this._clockCallback.bind(this)
       );
diff --git a/test/test-time-source.js b/test/test-time-source.js
index 2e574572..b3e33c5c 100644
--- a/test/test-time-source.js
+++ b/test/test-time-source.js
@@ -45,10 +45,10 @@ describe('rclnodejs TimeSource testing', function () {
   });
 
   function publishClockMessage(node) {
-    let pub = node.createPublisher('builtin_interfaces/msg/Time', '/clock');
+    let pub = node.createPublisher('rosgraph_msgs/msg/Clock', '/clock');
     let count = 0;
     timer = setInterval(() => {
-      pub.publish({ sec: count, nanosec: 0 });
+      pub.publish({ clock: { sec: count, nanosec: 0 } });
       count += 1;
     }, 1000);
   }