chore: Update timer implementation in simple_int_publisher and pollin…

…g_int_subscriber

Signed-off-by: Autumn60 <[email protected]>

src/sample/simple_int_publisher/src/simple_int_publisher.cpp

@@ -16,13 +16,16 @@ SimpleIntPublisher::SimpleIntPublisher(const rclcpp::NodeOptions & options)
 
   // Declare timer for update function
   {
-    auto update_callback = [this]() { this->update(); };
-    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<double>(1.0 / update_rate_hz));
-    update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(update_callback)>>(
-      this->get_clock(), period, std::move(update_callback),
-      this->get_node_base_interface()->get_context());
-    this->get_node_timers_interface()->add_timer(update_timer_, nullptr);
+    int update_dt_ms = static_cast<int>(1000.0 / update_rate_hz);
+    update_timer_ = this->create_wall_timer(
+      std::chrono::milliseconds(update_dt_ms), std::bind(&SimpleIntPublisher::update, this));
+    // auto update_callback = [this]() { this->update(); };
+    // auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
+    //   std::chrono::duration<double>(1.0 / update_rate_hz));
+    // update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(update_callback)>>(
+    //   this->get_clock(), period, std::move(update_callback),
+    //   this->get_node_base_interface()->get_context());
+    // this->get_node_timers_interface()->add_timer(update_timer_, nullptr);
   }
 
   // Reset counter

src/sample/simple_int_subscriber/src/polling_int_subscriber.cpp

@@ -15,13 +15,16 @@ PollingIntSubscriber::PollingIntSubscriber(const rclcpp::NodeOptions & options)
 
   // Declare timer for update function
   {
-    auto update_callback = [this]() { this->update(); };
-    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<double>(1.0 / update_rate_hz));
-    update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(update_callback)>>(
-      this->get_clock(), period, std::move(update_callback),
-      this->get_node_base_interface()->get_context());
-    this->get_node_timers_interface()->add_timer(update_timer_, nullptr);
+    int update_dt_ms = static_cast<int>(1000.0 / update_rate_hz);
+    update_timer_ = this->create_wall_timer(
+      std::chrono::milliseconds(update_dt_ms), std::bind(&PollingIntSubscriber::update, this));
+    // auto update_callback = [this]() { this->update(); };
+    // auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
+    //   std::chrono::duration<double>(1.0 / update_rate_hz));
+    // update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(update_callback)>>(
+    //   this->get_clock(), period, std::move(update_callback),
+    //   this->get_node_base_interface()->get_context());
+    // this->get_node_timers_interface()->add_timer(update_timer_, nullptr);
   }
 }