Ros2 Stopwatch

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Hi guys,

I want to implement a timer thats working like a stopwatch to check if my joy_node is continously sending messages. Everytime it gets called the timer starts and if it doesnt get called again in a certain time I can start another event, for example to make sure the robot stops. If the function gets called again (because the joy_node keeps sending messages) the timer just resets and the stop event doesnt get called.

Is there a timer function for doing this in ROS 2? (eloquent)

Sorry if the answer is obvious and I didnt find it.

Thanks in advance!