diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index d3808b2..e62b54d 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -182,6 +182,16 @@ def launch_setup(context, *args, **kwargs):
         }.items(),
     )
 
+    # Make the /clock topic available in ROS
+    gz_sim_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
+        ],
+        output="screen",
+    )
+
     nodes_to_start = [
         robot_state_publisher_node,
         joint_state_broadcaster_spawner,
@@ -190,6 +200,7 @@ def launch_setup(context, *args, **kwargs):
         initial_joint_controller_spawner_started,
         gz_spawn_entity,
         gz_launch_description,
+        gz_sim_bridge,
     ]
 
     return nodes_to_start
diff --git a/ur_simulation_gz/package.xml b/ur_simulation_gz/package.xml
index 337a8c2..513a11a 100644
--- a/ur_simulation_gz/package.xml
+++ b/ur_simulation_gz/package.xml
@@ -26,6 +26,7 @@
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_moveit_config</exec_depend>
   <exec_depend>urdf</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>xacro</exec_depend>