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use

rosbag play --clock your_bag_file.bag

to have it publishing to /clock topic...

First, as mentioned, set /use_sim_time to true.

Then use

rosbag play --clock your_bag_file.bag

to have it publishing to /clock topic...

All nodes started later will believe it is "old rosbag time", ros::Time::now() etc. in your nodes will return rosbag time....