Set use_sim_time through CM NodeOptions (#533) (#538)

Co-authored-by: Christoph Fröhlich <[email protected]>
(cherry picked from commit 0e38d95)

Co-authored-by: Sai Kishor Kothakota <[email protected]>

Author: mergify[bot]

gz_ros2_control/src/gz_ros2_control_plugin.cpp

@@ -441,6 +441,9 @@ void GazeboSimROS2ControlPlugin::Configure(
   arguments.push_back("__node:=" + controllerManagerNodeName);
   arguments.push_back("-r");
   arguments.push_back("__ns:=" + ns);
+  // Force setting of use_sim_time parameter
+  arguments.push_back("-p");
+  arguments.push_back("use_sim_time:=true");
   options.arguments(arguments);
   this->dataPtr->controller_manager_.reset(
     new controller_manager::ControllerManager(
@@ -455,10 +458,6 @@ void GazeboSimROS2ControlPlugin::Configure(
     std::chrono::duration_cast<std::chrono::nanoseconds>(
       std::chrono::duration<double>(1.0 / static_cast<double>(this->dataPtr->update_rate))));
 
-  // Force setting of use_sim_time parameter
-  this->dataPtr->controller_manager_->set_parameter(
-    rclcpp::Parameter("use_sim_time", rclcpp::ParameterValue(true)));
-
   // Wait for CM to receive robot description from the topic and then initialize Resource Manager
   while (!this->dataPtr->controller_manager_->is_resource_manager_initialized()) {
     RCLCPP_WARN(