Fix empy (#13)

* Fix empy

* Fix timer

Author: pablogs9

.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

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();