Fix timer (see ros2#1692)

timonegk · Jun 8, 2022 · 64cbfd1 · 64cbfd1
1 parent db7dbfe
commit 64cbfd1
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/rclcpp/src/rclcpp/executors/events_executor.cpp b/rclcpp/src/rclcpp/executors/events_executor.cpp
@@ -43,7 +43,7 @@ EventsExecutor::EventsExecutor(
   entities_collector_ = std::make_shared<EventsExecutorEntitiesCollector>(this);
   entities_collector_->init();
 
-  // Setup the executor notifier to wake up the executor when some guard conditions are tiggered.
+  // Set up the executor notifier to wake up the executor when some guard conditions are triggered.
   // The added guard conditions are guaranteed to not go out of scope before the executor itself.
   executor_notifier_ = std::make_shared<EventsExecutorNotifyWaitable>();
   executor_notifier_->add_guard_condition(shutdown_guard_condition_.get());

diff --git a/rclcpp/src/rclcpp/executors/timers_manager.cpp b/rclcpp/src/rclcpp/executors/timers_manager.cpp
@@ -142,6 +142,7 @@ bool TimersManager::execute_head_timer()
   const bool timer_ready = head_timer->is_ready();
   if (timer_ready) {
     // Invoke the timer callback
+    head_timer->call();
     head_timer->execute_callback();
     timers_heap.heapify_root();
     weak_timers_heap_.store(timers_heap);
@@ -195,6 +196,7 @@ void TimersManager::execute_ready_timers_unsafe()
   size_t executed_timers = 0;
   while (executed_timers < number_ready_timers && head_timer->is_ready()) {
     // Execute head timer
+    head_timer->call();
     head_timer->execute_callback();
     executed_timers++;
     // Executing a timer will result in updating its time_until_trigger, so re-heapify