From 671fed63cefc4571d697d4e3f6792812a1a39cc1 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 12 Jan 2024 08:37:45 +0100 Subject: [PATCH] Fix empy (#13) * Fix empy * Fix timer (cherry picked from commit f83776e43876438641ee9d5509411c770689196a) --- .github/workflows/ci.yml | 2 +- app/main.c | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 346379f..c85d4db 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -27,7 +27,7 @@ jobs: apt update export DEBIAN_FRONTEND=noninteractive apt install -y --no-install-recommends git build-essential gcc-arm-none-eabi python3-pip cmake ninja-build libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib g++-multilib gcc-multilib binutils-arm-none-eabi - pip3 install catkin_pkg lark-parser empy colcon-common-extensions + pip3 install catkin_pkg lark-parser colcon-common-extensions - uses: actions/checkout@v2 with: path: repo diff --git a/app/main.c b/app/main.c index 36114c1..09ac00c 100644 --- a/app/main.c +++ b/app/main.c @@ -84,11 +84,12 @@ void microros_thread(ULONG parameter) // create timer, rcl_timer_t timer; - rclc_timer_init_default( + rclc_timer_init_default2( &timer, &support, RCL_MS_TO_NS(1000), - timer_callback); + timer_callback, + true); // create executor rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();