Use ROS 2 Node Clock in Message Conversion (#900) #893

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Run time

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Job	Run time
lint	30s
ROS 2 humble (ubuntu-22.04)	6m 35s
ROS 2 iron (ubuntu-22.04)	6m 39s
ROS 2 rolling (ubuntu-22.04)	7m 12s
	20m 56s