chore: replace legacy timer (#329)

* chore(goal_distance_calculator): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(path_distance_calculator): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(control_performance_analysis): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(external_cmd_selector): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(joy_controller): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(lane_departure_checker): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(obstacle_collision_checker): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(pure_pursuit): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(shift_decider): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(trajectory_follower_nodes): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(vehicle_cmd_gate): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(ekf_localizer): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(localization_error_monitor): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(multi_object_tracker): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(tensorrt_yolo): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(traffic_light_classifier): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(traffic_light_ssd_fine_detector): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(traffic_light_visualization): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(behavior_path_planner): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(costmap_generator): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(freespace_planner): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(planning_error_monitor): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(scenario_selector): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(pointcloud_preprocessor): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(dummy_perception_publisher): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(ad_service_state_monitor): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(dummy_diag_publisher): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(emergency_handler): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(system_error_monitor): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(topic_state_monitor): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(accel_brake_map_calibrator): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(external_cmd_converter): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(pacmod_interface): replace legacy timer Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore(lint): apply pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
autowarefoundation · Feb 2, 2022 · c65c057 · c65c057
1 parent de23e11
commit c65c057
Show file tree

Hide file tree

Showing 37 changed files with 113 additions and 258 deletions.
diff --git a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp b/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp
@@ -56,14 +56,9 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
   self_pose_listener_.waitForFirstPose();
 
   // Timer
-  double delta_time = 1.0 / static_cast<double>(node_param_.update_rate);
-  auto timer_callback_ = std::bind(&GoalDistanceCalculatorNode::onTimer, this);
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(delta_time));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback_)>>(
-    this->get_clock(), period_ns, std::move(timer_callback_),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), period_ns, std::bind(&GoalDistanceCalculatorNode::onTimer, this));
   goal_distance_calculator_ = std::make_unique<GoalDistanceCalculator>();
 }
 

diff --git a/common/path_distance_calculator/src/path_distance_calculator.cpp b/common/path_distance_calculator/src/path_distance_calculator.cpp
@@ -31,7 +31,8 @@ PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & optio
   pub_dist_ =
     create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/output/distance", rclcpp::QoS(1));
 
-  auto timer_callback = [this]() {
+  using std::chrono_literals::operator""s;
+  timer_ = rclcpp::create_timer(this, get_clock(), 1s, [this]() {
     const auto path = path_;
     const auto pose = self_pose_listener_.getCurrentPose();
     if (!pose) {
@@ -53,13 +54,7 @@ PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & optio
     msg.stamp = pose->header.stamp;
     msg.data = distance;
     pub_dist_->publish(msg);
-  };
-
-  using namespace std::literals::chrono_literals;
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), 1s, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  });
 }
 
 #include <rclcpp_components/register_node_macro.hpp>

diff --git a/control/control_performance_analysis/src/control_performance_analysis_node.cpp b/control/control_performance_analysis/src/control_performance_analysis_node.cpp
@@ -86,13 +86,10 @@ ControlPerformanceAnalysisNode::ControlPerformanceAnalysisNode(
 
   // Timer
   {
-    auto on_timer = std::bind(&ControlPerformanceAnalysisNode::onTimer, this);
-    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
+    const auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
       std::chrono::duration<double>(param_.control_period));
-    timer_publish_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer)>>(
-      this->get_clock(), period, std::move(on_timer),
-      this->get_node_base_interface()->get_context());
-    this->get_node_timers_interface()->add_timer(timer_publish_, nullptr);
+    timer_publish_ = rclcpp::create_timer(
+      this, get_clock(), period_ns, std::bind(&ControlPerformanceAnalysisNode::onTimer, this));
   }
 
   // Wait for first self pose

diff --git a/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp b/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp
@@ -101,12 +101,9 @@ ExternalCmdSelector::ExternalCmdSelector(const rclcpp::NodeOptions & node_option
   });
 
   // Timer
-  auto timer_callback = std::bind(&ExternalCmdSelector::onTimer, this);
-  auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
-    std::chrono::duration<double>(1.0 / update_rate));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    get_clock(), period, std::move(timer_callback), get_node_base_interface()->get_context());
-  get_node_timers_interface()->add_timer(timer_, callback_group_subscribers_);
+  const auto period_ns = rclcpp::Rate(update_rate).period();
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), period_ns, std::bind(&ExternalCmdSelector::onTimer, this));
 }
 
 void ExternalCmdSelector::onLocalControlCmd(const ExternalControlCommand::ConstSharedPtr msg)

diff --git a/control/joy_controller/src/joy_controller/joy_controller_node.cpp b/control/joy_controller/src/joy_controller/joy_controller_node.cpp
@@ -437,13 +437,10 @@ void AutowareJoyControllerNode::publishVehicleEngage()
 
 void AutowareJoyControllerNode::initTimer(double period_s)
 {
-  auto timer_callback = std::bind(&AutowareJoyControllerNode::onTimer, this);
   const auto period_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), period_ns, std::bind(&AutowareJoyControllerNode::onTimer, this));
 }
 
 AutowareJoyControllerNode::AutowareJoyControllerNode(const rclcpp::NodeOptions & node_options)

diff --git a/...ol/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/...ol/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -173,14 +173,9 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o
   self_pose_listener_.waitForFirstPose();
 
   // Timer
-  double delta_time = 1.0 / static_cast<double>(node_param_.update_rate);
-  auto timer_callback_ = std::bind(&LaneDepartureCheckerNode::onTimer, this);
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(delta_time));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback_)>>(
-    this->get_clock(), period_ns, std::move(timer_callback_),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), period_ns, std::bind(&LaneDepartureCheckerNode::onTimer, this));
 }
 
 void LaneDepartureCheckerNode::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg)

diff --git a/...collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp b/...collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp
@@ -124,13 +124,10 @@ void ObstacleCollisionCheckerNode::onOdom(const nav_msgs::msg::Odometry::SharedP
 
 void ObstacleCollisionCheckerNode::initTimer(double period_s)
 {
-  auto timer_callback = std::bind(&ObstacleCollisionCheckerNode::onTimer, this);
   const auto period_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), period_ns, std::bind(&ObstacleCollisionCheckerNode::onTimer, this));
 }
 
 bool ObstacleCollisionCheckerNode::isDataReady()

diff --git a/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp b/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp
@@ -89,13 +89,10 @@ PurePursuitNode::PurePursuitNode(const rclcpp::NodeOptions & node_options)
 
   // Timer
   {
-    auto timer_callback = std::bind(&PurePursuitNode::onTimer, this);
-    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
+    const auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
       std::chrono::duration<double>(param_.ctrl_period));
-    timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-      this->get_clock(), period, std::move(timer_callback),
-      this->get_node_base_interface()->get_context());
-    this->get_node_timers_interface()->add_timer(timer_, nullptr);
+    timer_ = rclcpp::create_timer(
+      this, get_clock(), period_ns, std::bind(&PurePursuitNode::onTimer, this));
   }
 
   //  Wait for first current pose

diff --git a/control/shift_decider/src/shift_decider.cpp b/control/shift_decider/src/shift_decider.cpp
@@ -69,13 +69,10 @@ void ShiftDecider::updateCurrentShiftCmd()
 
 void ShiftDecider::initTimer(double period_s)
 {
-  auto timer_callback = std::bind(&ShiftDecider::onTimer, this);
   const auto period_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  timer_ =
+    rclcpp::create_timer(this, get_clock(), period_ns, std::bind(&ShiftDecider::onTimer, this));
 }
 
 #include <rclcpp_components/register_node_macro.hpp>

diff --git a/control/trajectory_follower_nodes/src/lateral_controller_node.cpp b/control/trajectory_follower_nodes/src/lateral_controller_node.cpp
@@ -395,14 +395,10 @@ const
 
 void LateralController::initTimer(float64_t period_s)
 {
-  auto timer_callback = std::bind(&LateralController::onTimer, this);
   const auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
-    std::chrono::duration<float64_t>(
-      period_s));
-  m_timer = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(m_timer, nullptr);
+    std::chrono::duration<float64_t>(period_s));
+  m_timer = rclcpp::create_timer(this, get_clock(), period_ns,
+    std::bind(&LateralController::onTimer, this));
 }
 
 void LateralController::declareMPCparameters()

diff --git a/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp b/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp
@@ -188,13 +188,9 @@ LongitudinalController::LongitudinalController(const rclcpp::NodeOptions & node_
 
   // Timer
   {
-    auto timer_callback = std::bind(&LongitudinalController::callbackTimerControl, this);
-    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<float64_t>(1.0 / m_control_rate));
-    m_timer_control = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-      this->get_clock(), period, std::move(timer_callback),
-      this->get_node_base_interface()->get_context());
-    this->get_node_timers_interface()->add_timer(m_timer_control, nullptr);
+    const auto period_ns = rclcpp::Rate(m_control_rate).period();
+    m_timer_control = rclcpp::create_timer(this, get_clock(), period_ns,
+      std::bind(&LongitudinalController::callbackTimerControl, this));
   }
 
   // set parameter callback

diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -189,13 +189,10 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
   start_request_ = std::make_unique<StartRequest>(this, use_start_request);
 
   // Timer
-  auto timer_callback = std::bind(&VehicleCmdGate::onTimer, this);
-  auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
+  const auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
     std::chrono::duration<double>(update_period_));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  timer_ =
+    rclcpp::create_timer(this, get_clock(), period_ns, std::bind(&VehicleCmdGate::onTimer, this));
 }
 
 bool VehicleCmdGate::isHeartbeatTimeout(

diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp
@@ -71,21 +71,14 @@ EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOpti
   proc_cov_yaw_bias_d_ = std::pow(proc_stddev_yaw_bias_c * ekf_dt_, 2.0);
 
   /* initialize ros system */
-  auto timer_control_callback = std::bind(&EKFLocalizer::timerCallback, this);
-  auto period_control =
+  auto period_control_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(ekf_dt_));
-  timer_control_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_control_callback)>>(
-    get_clock(), period_control, std::move(timer_control_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_control_, nullptr);
-
-  auto timer_tf_callback = std::bind(&EKFLocalizer::timerTFCallback, this);
-  auto period_tf = std::chrono::duration_cast<std::chrono::nanoseconds>(
-    std::chrono::duration<double>(1.0 / tf_rate_));
-  timer_tf_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_tf_callback)>>(
-    get_clock(), period_tf, std::move(timer_tf_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_tf_, nullptr);
+  timer_control_ = rclcpp::create_timer(
+    this, get_clock(), period_control_ns, std::bind(&EKFLocalizer::timerCallback, this));
+
+  const auto period_tf_ns = rclcpp::Rate(tf_rate_).period();
+  timer_tf_ = rclcpp::create_timer(
+    this, get_clock(), period_tf_ns, std::bind(&EKFLocalizer::timerTFCallback, this));
 
   pub_pose_ = create_publisher<geometry_msgs::msg::PoseStamped>("ekf_pose", 1);
   pub_pose_cov_ =

diff --git a/localization/ekf_localizer/test/src/test_ekf_localizer.cpp b/localization/ekf_localizer/test/src/test_ekf_localizer.cpp
@@ -48,12 +48,9 @@ class TestEKFLocalizerNode : public EKFLocalizer
     sub_pose = this->create_subscription<geometry_msgs::msg::PoseStamped>(
       "/ekf_pose", 1, std::bind(&TestEKFLocalizerNode::testCallbackPose, this, _1));
 
-    auto test_timer_callback = std::bind(&TestEKFLocalizerNode::testTimerCallback, this);
-    auto period = std::chrono::milliseconds(100);
-    test_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(test_timer_callback)>>(
-      this->get_clock(), period, std::move(test_timer_callback),
-      this->get_node_base_interface()->get_context());
-    this->get_node_timers_interface()->add_timer(test_timer_, nullptr);
+    using std::chrono_literals::operator""ms;
+    test_timer_ = rclcpp::create_timer(
+      this, get_clock(), 100ms, std::bind(&TestEKFLocalizerNode::testTimerCallback, this));
   }
   ~TestEKFLocalizerNode() {}
 

diff --git a/localization/localization_error_monitor/src/node.cpp b/localization/localization_error_monitor/src/node.cpp
@@ -55,13 +55,9 @@ LocalizationErrorMonitor::LocalizationErrorMonitor()
     &LocalizationErrorMonitor::checkLocalizationAccuracyLateralDirection);
 
   // Set timer
-  auto timer_callback = std::bind(&LocalizationErrorMonitor::onTimer, this);
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(0.1));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  using std::chrono_literals::operator""ms;
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 100ms, std::bind(&LocalizationErrorMonitor::onTimer, this));
 }
 
 void LocalizationErrorMonitor::onTimer() { updater_.force_update(); }

diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -182,14 +182,9 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
 
   // Create ROS time based timer
   if (enable_delay_compensation) {
-    auto timer_callback = std::bind(&MultiObjectTracker::onTimer, this);
-    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<double>(1.0 / publish_rate));
-
-    publish_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-      this->get_clock(), period, std::move(timer_callback),
-      this->get_node_base_interface()->get_context());
-    this->get_node_timers_interface()->add_timer(publish_timer_, nullptr);
+    const auto period_ns = rclcpp::Rate(publish_rate).period();
+    publish_timer_ = rclcpp::create_timer(
+      this, get_clock(), period_ns, std::bind(&MultiObjectTracker::onTimer, this));
   }
 
   const auto tmp = this->declare_parameter<std::vector<int64_t>>("can_assign_matrix");

diff --git a/perception/tensorrt_yolo/src/nodelet.cpp b/perception/tensorrt_yolo/src/nodelet.cpp
@@ -90,14 +90,9 @@ TensorrtYoloNodelet::TensorrtYoloNodelet(const rclcpp::NodeOptions & options)
       new yolo::Net(onnx_file, mode, 1, yolo_config_, calibration_images, calib_cache_file));
     net_ptr_->save(engine_file);
   }
-  auto timer_callback = std::bind(&TensorrtYoloNodelet::connectCb, this);
-  const auto period_s = 0.1;
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  using std::chrono_literals::operator""ms;
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 100ms, std::bind(&TensorrtYoloNodelet::connectCb, this));
 
   std::lock_guard<std::mutex> lock(connect_mutex_);
 

diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/nodelet.cpp
@@ -40,15 +40,9 @@ TrafficLightClassifierNodelet::TrafficLightClassifierNodelet(const rclcpp::NodeO
     this->create_publisher<autoware_auto_perception_msgs::msg::TrafficSignalArray>(
       "~/output/traffic_signals", rclcpp::QoS{1});
 
-  //
-  auto timer_callback = std::bind(&TrafficLightClassifierNodelet::connectCb, this);
-  const auto period_s = 0.1;
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  using std::chrono_literals::operator""ms;
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 100ms, std::bind(&TrafficLightClassifierNodelet::connectCb, this));
 
   int classifier_type = this->declare_parameter(
     "classifier_type", static_cast<int>(TrafficLightClassifierNodelet::ClassifierType::HSVFilter));

diff --git a/perception/traffic_light_ssd_fine_detector/src/nodelet.cpp b/perception/traffic_light_ssd_fine_detector/src/nodelet.cpp
@@ -84,14 +84,9 @@ TrafficLightSSDFineDetectorNodelet::TrafficLightSSDFineDetectorNodelet(
   mean_ = toFloatVector(this->declare_parameter("mean", std::vector<double>({0.5, 0.5, 0.5})));
   std_ = toFloatVector(this->declare_parameter("std", std::vector<double>({0.5, 0.5, 0.5})));
 
-  auto timer_callback = std::bind(&TrafficLightSSDFineDetectorNodelet::connectCb, this);
-  const auto period_s = 0.1;
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  using std::chrono_literals::operator""ms;
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 100ms, std::bind(&TrafficLightSSDFineDetectorNodelet::connectCb, this));
 
   std::lock_guard<std::mutex> lock(connect_mutex_);
   output_roi_pub_ =

diff --git a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp
@@ -43,14 +43,9 @@ TrafficLightRoiVisualizerNodelet::TrafficLightRoiVisualizerNodelet(
       std::bind(&TrafficLightRoiVisualizerNodelet::imageRoiCallback, this, _1, _2, _3));
   }
 
-  auto timer_callback = std::bind(&TrafficLightRoiVisualizerNodelet::connectCb, this);
-  const auto period_s = 0.1;
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
-    this->get_clock(), period_ns, std::move(timer_callback),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  using std::chrono_literals::operator""ms;
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 100ms, std::bind(&TrafficLightRoiVisualizerNodelet::connectCb, this));
 
   image_pub_ =
     image_transport::create_publisher(this, "~/output/image", rclcpp::QoS{1}.get_rmw_qos_profile());

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -131,12 +131,9 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
   // Start timer. This must be done after all data (e.g. vehicle pose, velocity) are ready.
   {
     const auto planning_hz = declare_parameter("planning_hz", 10.0);
-    const auto period = rclcpp::Rate(planning_hz).period();
-    auto on_timer = std::bind(&BehaviorPathPlannerNode::run, this);
-    timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer)>>(
-      this->get_clock(), period, std::move(on_timer),
-      this->get_node_base_interface()->get_context());
-    this->get_node_timers_interface()->add_timer(timer_, nullptr);
+    const auto period_ns = rclcpp::Rate(planning_hz).period();
+    timer_ = rclcpp::create_timer(
+      this, get_clock(), period_ns, std::bind(&BehaviorPathPlannerNode::run, this));
   }
 }