From 94a6bbd52c0a09c48807b4c3cf8315dfff9f9669 Mon Sep 17 00:00:00 2001 From: Florian Depraz Date: Wed, 9 Apr 2025 08:46:51 +0200 Subject: [PATCH 1/2] examples: Use rclc_timer_init_default2 instead of deprecated Signed-off-by: Florian Depraz --- examples/handle_static_types/main/main.c | 5 +++-- examples/int32_publisher/main/main.c | 5 +++-- examples/int32_publisher_custom_transport/main/main.c | 5 +++-- examples/int32_publisher_embeddedrtps/main/main.c | 5 +++-- examples/int32_sub_pub/main/main.c | 5 +++-- examples/low_consumption/main/main.c | 5 +++-- examples/parameters/main/main.c | 5 +++-- examples/ping_pong/main/main.c | 3 ++- 8 files changed, 23 insertions(+), 15 deletions(-) diff --git a/examples/handle_static_types/main/main.c b/examples/handle_static_types/main/main.c index 350c992b..91c187fc 100644 --- a/examples/handle_static_types/main/main.c +++ b/examples/handle_static_types/main/main.c @@ -73,11 +73,12 @@ void micro_ros_task(void * arg) // create timer, rcl_timer_t timer; const unsigned int timer_timeout = 1000; - RCCHECK(rclc_timer_init_default( + RCCHECK(rclc_timer_init_default2( &timer, &support, RCL_MS_TO_NS(timer_timeout), - timer_callback)); + timer_callback, + true)); // create executor rclc_executor_t executor; diff --git a/examples/int32_publisher/main/main.c b/examples/int32_publisher/main/main.c index 2bedc4d1..5b8ebf71 100644 --- a/examples/int32_publisher/main/main.c +++ b/examples/int32_publisher/main/main.c @@ -67,11 +67,12 @@ void micro_ros_task(void * arg) // create timer, rcl_timer_t timer; const unsigned int timer_timeout = 1000; - RCCHECK(rclc_timer_init_default( + RCCHECK(rclc_timer_init_default2( &timer, &support, RCL_MS_TO_NS(timer_timeout), - timer_callback)); + timer_callback, + true)); // create executor rclc_executor_t executor; diff --git a/examples/int32_publisher_custom_transport/main/main.c b/examples/int32_publisher_custom_transport/main/main.c index 11a7a2a1..22afb5b1 100644 --- a/examples/int32_publisher_custom_transport/main/main.c +++ b/examples/int32_publisher_custom_transport/main/main.c @@ -55,11 +55,12 @@ void micro_ros_task(void * arg) // create timer, rcl_timer_t timer; const unsigned int timer_timeout = 1000; - RCCHECK(rclc_timer_init_default( + RCCHECK(rclc_timer_init_default2( &timer, &support, RCL_MS_TO_NS(timer_timeout), - timer_callback)); + timer_callback, + true)); // create executor rclc_executor_t executor; diff --git a/examples/int32_publisher_embeddedrtps/main/main.c b/examples/int32_publisher_embeddedrtps/main/main.c index ed676630..d08238c3 100644 --- a/examples/int32_publisher_embeddedrtps/main/main.c +++ b/examples/int32_publisher_embeddedrtps/main/main.c @@ -55,11 +55,12 @@ void micro_ros_task(void * arg) // create timer, rcl_timer_t timer; const unsigned int timer_timeout = 1000; - RCCHECK(rclc_timer_init_default( + RCCHECK(rclc_timer_init_default2( &timer, &support, RCL_MS_TO_NS(timer_timeout), - timer_callback)); + timer_callback, + true)); // create executor rclc_executor_t executor; diff --git a/examples/int32_sub_pub/main/main.c b/examples/int32_sub_pub/main/main.c index 2a071339..2da217e5 100644 --- a/examples/int32_sub_pub/main/main.c +++ b/examples/int32_sub_pub/main/main.c @@ -82,11 +82,12 @@ void micro_ros_task(void * arg) // Create timer. rcl_timer_t timer = rcl_get_zero_initialized_timer(); const unsigned int timer_timeout = 1000; - RCCHECK(rclc_timer_init_default( + RCCHECK(rclc_timer_init_default2( &timer, &support, RCL_MS_TO_NS(timer_timeout), - timer_callback)); + timer_callback, + true)); // Create executor. rclc_executor_t executor = rclc_executor_get_zero_initialized_executor(); diff --git a/examples/low_consumption/main/main.c b/examples/low_consumption/main/main.c index 76bec315..cd7528ef 100644 --- a/examples/low_consumption/main/main.c +++ b/examples/low_consumption/main/main.c @@ -83,11 +83,12 @@ void micro_ros_task(void * arg) // create timer, rcl_timer_t timer; const unsigned int timer_timeout = 1000; - RCCHECK(rclc_timer_init_default( + RCCHECK(rclc_timer_init_default2( &timer, &support, RCL_MS_TO_NS(timer_timeout), - timer_callback)); + timer_callback, + true)); // create executor rclc_executor_t executor; diff --git a/examples/parameters/main/main.c b/examples/parameters/main/main.c index 4460634d..5cba0549 100644 --- a/examples/parameters/main/main.c +++ b/examples/parameters/main/main.c @@ -79,11 +79,12 @@ void micro_ros_task(void * arg) // create timer, rcl_timer_t timer; - rclc_timer_init_default( + RCCHECK(rclc_timer_init_default2( &timer, &support, RCL_MS_TO_NS(1000), - timer_callback); + timer_callback, + true)); // Create executor rclc_executor_t executor; diff --git a/examples/ping_pong/main/main.c b/examples/ping_pong/main/main.c index 3ec12ec8..dfcd0ed8 100644 --- a/examples/ping_pong/main/main.c +++ b/examples/ping_pong/main/main.c @@ -133,7 +133,8 @@ void micro_ros_task(void * arg) // Create a 3 seconds ping timer timer, rcl_timer_t timer; - RCCHECK(rclc_timer_init_default(&timer, &support, RCL_MS_TO_NS(2000), ping_timer_callback)); + RCCHECK(rclc_timer_init_default2(&timer, &support, RCL_MS_TO_NS(2000), + ping_timer_callback, true)); // Create executor From 405ff50d30ec96dd946b09f9b031ac3fe3b59d56 Mon Sep 17 00:00:00 2001 From: Florian Depraz Date: Wed, 9 Apr 2025 08:48:11 +0200 Subject: [PATCH 2/2] Fix comment in example (2 instead of 3 seconds timer) Signed-off-by: Florian Depraz --- examples/ping_pong/main/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/ping_pong/main/main.c b/examples/ping_pong/main/main.c index dfcd0ed8..31b8e610 100644 --- a/examples/ping_pong/main/main.c +++ b/examples/ping_pong/main/main.c @@ -131,7 +131,7 @@ void micro_ros_task(void * arg) ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong")); - // Create a 3 seconds ping timer timer, + // Create a 2 seconds ping timer timer, rcl_timer_t timer; RCCHECK(rclc_timer_init_default2(&timer, &support, RCL_MS_TO_NS(2000), ping_timer_callback, true));