ROS_VERSION=2 ROS_PYTHON_VERSION=3 ROS_LOCALHOST_ONLY=0 ROS_DISTRO=galactic

Currently, I am modified the launch file in https://github.com/ros-drivers/phidgets_drivers/blob/galactic/phidgets_spatial/launch/spatial-launch.py base on the second example in https://docs.ros.org/en/foxy/How-To-Guides/Launching-composable-nodes.html

However, something I find very strange. Whenever I set the usesimtime parameter to 'True' in the launch file, the node will not publish anything out.

Things I have tried.

1. I have subscribed to /clock and verified that the clock is published by gzserver

My version of the launch file

import launch
from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
from launch_ros.descriptions import ComposableNode
from ament_index_python.packages import get_package_share_directory
import os
def generate_launch_description():

container = Node(
    name='phidget_container',
    namespace='',
    package='rclcpp_components',
    executable='component_container',
    output='both',
)

load_composable_nodes = LoadComposableNodes(
    target_container='phidget_container',
    composable_node_descriptions=[
        ComposableNode(
            package='phidgets_spatial',
            plugin='phidgets::SpatialRosI',
            name='phidgets_spatial',
            parameters=[{'use_sim_time': True}],
        ),
    ],
)

return launch.LaunchDescription([        container,        load_composable_nodes,    ])