From 6d8d2a2a655dd300003e6f761f2b0bbfe2f245bc Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 10 Aug 2022 15:21:42 +0900 Subject: [PATCH] fix(simple_planning_simulator): fix timer type (#1538) Signed-off-by: Takamasa Horibe --- .../simple_planning_simulator_core.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 351bb53087dd0..2d2d55d4fb294 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -135,8 +135,8 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt std::bind(&SimplePlanningSimulator::on_parameter, this, _1)); timer_sampling_time_ms_ = static_cast(declare_parameter("timer_sampling_time_ms", 25)); - on_timer_ = create_wall_timer( - std::chrono::milliseconds(timer_sampling_time_ms_), + on_timer_ = rclcpp::create_timer( + this, get_clock(), std::chrono::milliseconds(timer_sampling_time_ms_), std::bind(&SimplePlanningSimulator::on_timer, this)); tier4_api_utils::ServiceProxyNodeInterface proxy(this);