Timer timeout bellow 500ms doesn't work

[negre]

As mentionned in issue micro-ROS/micro_ros_arduino#56 timer bellow 500ms doesn't work on the arduino nano rp2040 connect

Issue template

• Hardware description: Arduino Nano RP2040 Connect
• RTOS:
• Installation type: Arduino with micro_ros_arduino
• Version or commit hash: galactic

Steps to reproduce the issue

1. copy the micro-ros_publisher example and set the timer_timeout to 100 ms instead of 1000

$ diff orig.ino new.ino 
64c64
<   const unsigned int timer_timeout = 1000;
---
>   const unsigned int timer_timeout = 100;
79d78
<   delay(100);

2. start micro_ros agent

$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -b 115200

3. display topic frequency :

$ros2 topic hz /micro_ros_arduino_node_publisher
average rate: 1.577
	min: 0.101s max: 0.901s std dev: 0.37674s window: 3
average rate: 1.722
	min: 0.101s max: 0.901s std dev: 0.39155s window: 5
average rate: 1.792
	min: 0.101s max: 0.901s std dev: 0.39554s window: 7
average rate: 1.834
	min: 0.101s max: 0.901s std dev: 0.39716s window: 9
average rate: 1.861
	min: 0.101s max: 0.901s std dev: 0.39798s window: 11

Expected behavior

Average rate should be 10 Hz

Actual behavior

Average rate is 2 Hz

Additional information

[Acuadros95]

Hello @negre,

The compiler version of the micro-ROS library builder for this board was outdated, causing unexpected behavior on executor internal time measurements. This PR should fix it: micro-ROS/micro_ros_arduino#490.

I have updated the releases with this fix, please give it a try: https://github.com/micro-ROS/micro_ros_arduino/releases

[Acuadros95]

Closing this, reopen if the problem persist