- S4: TinesNode::trust_system_clock(now) and trust_wall_clock(wall, now)
give a ROS2-only fleet a local trusted-time source, with the same
plausibility bounds as the service (tines::trust).
- Decision J: poll collects peer estimates for a window (default 10 s,
set_peer_time_window_ms) from the first plausible one and adopts the
latest, once; implausible estimates (B3) are never adopted.
- S5: adoption goes through tines::trust::adopt_wall_clock, which flushes
the store right after set_wall_clock.
- has_trusted_time() reports whether a wall time was adopted.
The `ros2` feature is outside the default gate; the shared logic is
tested in `tines`, and these methods were type-checked against it.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
kyleandClaude Opus 5.5
3db1e97545