diff --git a/ap_master/launch/master.launch b/ap_master/launch/master.launch
index 9dfaaa5ec8b2dc00639fde26d3fa66388bf9e100..e4dab7177ce56b2cb94f012d5ca855fb573f5fe2 100644
--- a/ap_master/launch/master.launch
+++ b/ap_master/launch/master.launch
@@ -15,6 +15,7 @@
   <arg name="ap_dev" default="/dev/ttyUSB*" />  <!-- Device string -->
   <arg name="net_dev" default="wlan0" />  <!-- Network device -->
   <arg name="net_port" default="5554" />  <!-- Network port -->
+  <arg name="publish_clock" default="false" /> <!-- If mavbridge should publish the clock -->
 
   <!-- Derived (conditional) arguments -->
   <arg name="gps_arg" default="--gps-time-hack" if="$(arg gps)" />
@@ -34,7 +35,9 @@
 
   <!-- Core Nodes -->
 
-  <node name="autopilot" pkg="autopilot_bridge" type="mavbridge.py" output="screen" args="--device $(arg ap_dev) --baudrate 1500000 --serial-relief 1024 -m acs -m file -m fpr -m slave -m wp -m ap_msg_queue $(arg gps_arg)" />
+  <node name="autopilot" pkg="autopilot_bridge" type="mavbridge.py" output="screen" args="--device $(arg ap_dev) --baudrate 1500000 --serial-relief 1024 -m acs -m file -m fpr -m slave -m wp -m ap_msg_queue $(arg gps_arg)">
+    <param name="publish_clock" type="bool" value="$(arg publish_clock)" />
+  </node>
 
   <node name="safety" pkg="ap_safety_monitor" type="safety.py" output="screen" >
     <remap from="safety/heartbeat" to="autopilot/heartbeat_onboard" />
diff --git a/ap_master/launch/sitl.launch b/ap_master/launch/sitl.launch
index 45e0005169e47326f22680b3b63e10a8fd612dfe..0cf6a16dd496be4953c7a3fad33bf1b25c8bb779 100644
--- a/ap_master/launch/sitl.launch
+++ b/ap_master/launch/sitl.launch
@@ -13,6 +13,8 @@
   <arg name="id" />
   <arg name="range" default="-1"/>
   <arg name="team" default="1"/>
+  <!-- If in Gazebo SITL publish the clock -->
+  <arg name="publish_clock" default="false"/>
 
   <!-- Optional features -->
   <arg name="bag" default="0" />    <!-- Generate ROS bag files -->
@@ -34,8 +36,9 @@
     <arg name="net_port" default="$(arg port)" />
 
     <!-- pass game-specific parameters (e.g., virtual sensor) -->
-    <arg name="range" default="$(arg range)" />
-    <arg name="team" default="$(arg team)" />
+    <arg name="range" default="$(arg range)" />    <arg name="team" default="$(arg team)" />
+    <arg name="publish_clock" default="$(arg publish_clock)"/>
+
   </include>
 
 </launch>