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Update deprecated timer function to rclc_timer_init_default2 (backport #286) #292

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Merged
4ntn merged 1 commit into from
Jul 2, 2025
Merged

Update deprecated timer function to rclc_timer_init_default2 (backport #286) #292

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5 changes: 3 additions & 2 deletions examples/handle_static_types/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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5 changes: 3 additions & 2 deletions examples/int32_publisher/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
5 changes: 3 additions & 2 deletions examples/int32_publisher_custom_transport/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
5 changes: 3 additions & 2 deletions examples/int32_publisher_embeddedrtps/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
5 changes: 3 additions & 2 deletions examples/int32_sub_pub/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
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5 changes: 3 additions & 2 deletions examples/low_consumption/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
5 changes: 3 additions & 2 deletions examples/parameters/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
5 changes: 3 additions & 2 deletions examples/ping_pong/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -131,9 +131,10 @@ 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_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
Expand Down