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So msg->angle_timestamp1 is an int, right?

If it's time in seconds (which is not a good idea, because the resolution is way too coarse), this should work:

ros::Time current_time_encoder(msg->angle_timestamp1);

If it's nanoseconds, this works:

ros::Time current_time_encoder(msg->angle_timestamp1 / 1e9, msg->angle_timestamp1 % 1e9);

Similarly 1e6 for microseconds, 1e3 for milliseconds.

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