Replace config use_sim_time with SetUseSimTime in launch file #3119
Description
Small enhancement: you could replace all the use_sim_time in the config with the SetUseSimTime introduced in Humble. That would remove the RewrittenYaml logic from the launch file
One thing to note is that bt_navigator_navigate_through_poses_rclcpp_node won't get this parameter because it's created internally. Here is a workaround in bt_action_server_impl.h:
auto options = rclcpp::NodeOptions().arguments(
{"--ros-args",
"-r",
std::string("__node:=") + std::string(node->get_name()) + client_node_name + "_rclcpp_node",
"-p",
"use_sim_time:=" + std::string(node->get_parameter("use_sim_time").as_bool() ? "true": "false"),
"--"});