From 091368a307b9bcd3599ab05efaeae0861239e193 Mon Sep 17 00:00:00 2001
From: David Laseca Perez <davidlaseca@eprosima.com>
Date: Fri, 28 Aug 2026 13:02:17 +0200
Subject: [PATCH] Update demos after API changes

Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>
---
 rclc/autodiscover_agent/main.c                   |  8 +++++---
 .../configured_publisher/main.c                  |  8 +++++---
 .../custom_transports/main.c                     |  8 +++++---
 rclc/epoch_synchronization/main.c                |  8 +++++---
 rclc/fragmented_publication/main.c               | 14 ++++++++------
 rclc/graph_introspection/publisher_count/main.c  |  8 +++++---
 .../subscription_count/main.c                    |  8 +++++---
 rclc/int32_multinode/main.c                      | 16 ++++++++++------
 rclc/int32_publisher/main.c                      |  8 +++++---
 rclc/int32_publisher_subscriber/main.c           |  8 +++++---
 rclc/parameter_server/main.c                     |  8 +++++---
 rclc/ping_pong/main.c                            |  5 +++--
 rclc/ping_uros_agent/main.c                      |  8 +++++---
 rclc/static_type_handling/main.c                 |  8 +++++---
 rclc/string_publisher/main.c                     |  8 +++++---
 rclc/timer/main.c                                |  8 +++++---
 16 files changed, 86 insertions(+), 53 deletions(-)

diff --git a/rclc/autodiscover_agent/main.c b/rclc/autodiscover_agent/main.c
index 1d02eaf..96c9339 100644
--- a/rclc/autodiscover_agent/main.c
+++ b/rclc/autodiscover_agent/main.c
@@ -16,9 +16,10 @@
 rcl_publisher_t publisher;
 std_msgs__msg__Int32 msg;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
 		printf("Sent: %d\n", msg.data);
@@ -58,11 +59,12 @@ int main()
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
diff --git a/rclc/configuration_example/configured_publisher/main.c b/rclc/configuration_example/configured_publisher/main.c
index 3f1a57c..9d281bb 100644
--- a/rclc/configuration_example/configured_publisher/main.c
+++ b/rclc/configuration_example/configured_publisher/main.c
@@ -15,9 +15,10 @@
 rcl_publisher_t publisher;
 std_msgs__msg__Int32 msg;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
 		printf("Sent: %d\n", msg.data);
@@ -66,11 +67,12 @@ int main(int argc, char * const argv[])
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
diff --git a/rclc/configuration_example/custom_transports/main.c b/rclc/configuration_example/custom_transports/main.c
index 4ca57e7..185110c 100644
--- a/rclc/configuration_example/custom_transports/main.c
+++ b/rclc/configuration_example/custom_transports/main.c
@@ -113,9 +113,10 @@ size_t custom_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
 rcl_publisher_t publisher;
 std_msgs__msg__Int32 msg;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
 		printf("Sent: %d\n", msg.data);
@@ -161,11 +162,12 @@ int main(int argc, char * const argv[])
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
diff --git a/rclc/epoch_synchronization/main.c b/rclc/epoch_synchronization/main.c
index bbfb19e..898c7c3 100644
--- a/rclc/epoch_synchronization/main.c
+++ b/rclc/epoch_synchronization/main.c
@@ -15,10 +15,11 @@
 rcl_publisher_t publisher;
 std_msgs__msg__Int32 msg;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
 	(void) timer;
+	(void) user_data;
 
 	RCSOFTCHECK(rmw_uros_sync_session(1000));
 	int64_t time = rmw_uros_epoch_millis();
@@ -50,11 +51,12 @@ int main()
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
diff --git a/rclc/fragmented_publication/main.c b/rclc/fragmented_publication/main.c
index 21213bd..5013f4c 100644
--- a/rclc/fragmented_publication/main.c
+++ b/rclc/fragmented_publication/main.c
@@ -16,9 +16,10 @@
 rcl_publisher_t publisher;
 std_msgs__msg__String msg;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
 		printf("I sent an %ld array\n", msg.data.size);
@@ -47,11 +48,12 @@ int main(int argc, const char * const * argv)
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
@@ -63,9 +65,9 @@ int main(int argc, const char * const * argv)
 	msg.data.size = 0;
 	msg.data.capacity = ARRAY_LEN;
 	
-	memset(msg.data.data,'z',3500);
-	msg.data.data[3500] = '\0';
-	msg.data.size = 3501;	
+	memset(msg.data.data,'z',1800); // Default max buffer size is 2048 bytes
+	msg.data.data[1800] = '\0';
+	msg.data.size = 1801;
 
 	rclc_executor_spin(&executor);
 
diff --git a/rclc/graph_introspection/publisher_count/main.c b/rclc/graph_introspection/publisher_count/main.c
index a3f4cb3..4c13674 100644
--- a/rclc/graph_introspection/publisher_count/main.c
+++ b/rclc/graph_introspection/publisher_count/main.c
@@ -15,9 +15,10 @@
 rcl_subscription_t subscription;
 rcl_node_t node;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
   (void) last_call_time;
+  (void) user_data;
   printf("Publisher count for subscription '/parameter_events':\n");
   size_t publisher_count = 0;
   RCSOFTCHECK(rcl_subscription_get_publisher_count(&subscription, &publisher_count));
@@ -48,11 +49,12 @@ int main(int argc, const char * const * argv)
   // create timer
   rcl_timer_t timer;
   const unsigned int timer_timeout = 1000;
-  RCCHECK(rclc_timer_init_default(
+  RCCHECK(rclc_timer_init_default2(
     &timer,
     &support,
     RCL_MS_TO_NS(timer_timeout),
-    timer_callback));
+    timer_callback,
+    true));
 
   // create executor
   rclc_executor_t executor;
diff --git a/rclc/graph_introspection/subscription_count/main.c b/rclc/graph_introspection/subscription_count/main.c
index b992e69..d582eeb 100644
--- a/rclc/graph_introspection/subscription_count/main.c
+++ b/rclc/graph_introspection/subscription_count/main.c
@@ -15,9 +15,10 @@
 rcl_publisher_t publisher;
 rcl_node_t node;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
   (void) last_call_time;
+  (void) user_data;
   printf("Subscriptions count for publisher '/parameter_events':\n");
   size_t subscription_count = 0;
   RCSOFTCHECK(rcl_publisher_get_subscription_count(&publisher, &subscription_count));
@@ -48,11 +49,12 @@ int main(int argc, const char * const * argv)
   // create timer
   rcl_timer_t timer;
   const unsigned int timer_timeout = 1000;
-  RCCHECK(rclc_timer_init_default(
+  RCCHECK(rclc_timer_init_default2(
     &timer,
     &support,
     RCL_MS_TO_NS(timer_timeout),
-    timer_callback));
+    timer_callback,
+    true));
 
   // create executor
   rclc_executor_t executor;
diff --git a/rclc/int32_multinode/main.c b/rclc/int32_multinode/main.c
index 1f6db43..5578623 100644
--- a/rclc/int32_multinode/main.c
+++ b/rclc/int32_multinode/main.c
@@ -20,9 +20,10 @@ rcl_subscription_t subscriber_2;
 std_msgs__msg__Int32 send_msg_2;
 std_msgs__msg__Int32 recv_msg_2;
 
-void timer_callback_1(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback_1(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
  	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher_1, &send_msg_1, NULL));
 		printf("Node 1 -- Sent: %d\n", send_msg_1.data);
@@ -36,9 +37,10 @@ void subscription_callback_1(const void * msgin)
 	printf("Node 1 --Received: %d\n", msg->data);
 }
 
-void timer_callback_2(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback_2(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher_2, &send_msg_2, NULL));
 		printf("Node 2 -- Sent: %d\n", send_msg_2.data);
@@ -82,11 +84,12 @@ int main(int argc, const char * const * argv)
 
 	// create timer,
 	rcl_timer_t timer_1;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer_1,
 		&support,
 		RCL_MS_TO_NS(1000),
-		timer_callback_1));
+		timer_callback_1,
+		true));
 
 	// create executor
 	rclc_executor_t executor_1 = rclc_executor_get_zero_initialized_executor();
@@ -115,11 +118,12 @@ int main(int argc, const char * const * argv)
 
 	// create timer,
 	rcl_timer_t timer_2;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer_2,
 		&support,
 		RCL_MS_TO_NS(1000),
-		timer_callback_2));
+		timer_callback_2,
+		true));
 
 	// create executor
 	rclc_executor_t executor_2 = rclc_executor_get_zero_initialized_executor();
diff --git a/rclc/int32_publisher/main.c b/rclc/int32_publisher/main.c
index 96ff463..1ac7afc 100644
--- a/rclc/int32_publisher/main.c
+++ b/rclc/int32_publisher/main.c
@@ -14,9 +14,10 @@
 rcl_publisher_t publisher;
 std_msgs__msg__Int32 msg;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
 		printf("Sent: %d\n", msg.data);
@@ -46,11 +47,12 @@ int main()
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
diff --git a/rclc/int32_publisher_subscriber/main.c b/rclc/int32_publisher_subscriber/main.c
index 141b5bc..0a5468c 100644
--- a/rclc/int32_publisher_subscriber/main.c
+++ b/rclc/int32_publisher_subscriber/main.c
@@ -15,9 +15,10 @@ rcl_subscription_t subscriber;
 std_msgs__msg__Int32 send_msg;
 std_msgs__msg__Int32 recv_msg;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher, &send_msg, NULL));
 		printf("Sent: %d\n", send_msg.data);
@@ -60,11 +61,12 @@ int main(int argc, const char * const * argv)
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
diff --git a/rclc/parameter_server/main.c b/rclc/parameter_server/main.c
index 47a25bf..5aacc73 100644
--- a/rclc/parameter_server/main.c
+++ b/rclc/parameter_server/main.c
@@ -20,10 +20,11 @@ rcl_timer_t timer;
 bool publish = true;
 std_msgs__msg__Int32 msg;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
   (void) last_call_time;
   (void) timer;
+  (void) user_data;
 
   if (publish) {
     RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
@@ -89,11 +90,12 @@ int main()
 
   // create timer,
   RCCHECK(
-    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();
diff --git a/rclc/ping_pong/main.c b/rclc/ping_pong/main.c
index 8f9e9dd..d358a09 100644
--- a/rclc/ping_pong/main.c
+++ b/rclc/ping_pong/main.c
@@ -27,9 +27,10 @@ int device_id;
 int seq_no;
 int pong_count;
 
-void ping_timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void ping_timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 
 	if (timer != NULL) {
 
@@ -100,7 +101,7 @@ int main()
 
 	// Create a 3 seconds ping timer timer,
 	rcl_timer_t timer;
-	RCCHECK(rclc_timer_init_default(&timer, &support, RCL_MS_TO_NS(2000), ping_timer_callback));
+	RCCHECK(rclc_timer_init_default2(&timer, &support, RCL_MS_TO_NS(2000), ping_timer_callback, true));
 
 
 	// Create executor
diff --git a/rclc/ping_uros_agent/main.c b/rclc/ping_uros_agent/main.c
index 59b9f63..e732e07 100644
--- a/rclc/ping_uros_agent/main.c
+++ b/rclc/ping_uros_agent/main.c
@@ -41,9 +41,10 @@ int usage()
     return 1;
 }
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
     (void) last_call_time;
+    (void) user_data;
     if (NULL != timer) {
         RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
         printf("Sent: '%s'\n", msg.data.data);
@@ -128,11 +129,12 @@ int main(int argc, char ** argv)
         // Create timer
         rcl_timer_t timer;
         const unsigned int timer_timeout = 1000;
-        RCCHECK(rclc_timer_init_default(
+        RCCHECK(rclc_timer_init_default2(
             &timer,
             &support,
             RCL_MS_TO_NS(timer_timeout),
-            timer_callback));
+            timer_callback,
+            true));
 
         // Create executor
         rclc_executor_t executor;
diff --git a/rclc/static_type_handling/main.c b/rclc/static_type_handling/main.c
index e790577..9f99be5 100644
--- a/rclc/static_type_handling/main.c
+++ b/rclc/static_type_handling/main.c
@@ -31,9 +31,10 @@ void error_loop(){
   }
 }
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
   RCLC_UNUSED(last_call_time);
+  RCLC_UNUSED(user_data);
   if (timer != NULL) {
     RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
     RCSOFTCHECK(rcl_publish(&publisher, &msg_static, NULL));
@@ -58,11 +59,12 @@ int main() {
 
   // create timer,
   const unsigned int timer_timeout = 1000;
-  RCCHECK(rclc_timer_init_default(
+  RCCHECK(rclc_timer_init_default2(
     &timer,
     &support,
     RCL_MS_TO_NS(timer_timeout),
-    timer_callback));
+    timer_callback,
+    true));
 
   // create executor
   RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
diff --git a/rclc/string_publisher/main.c b/rclc/string_publisher/main.c
index 57384db..2e94038 100644
--- a/rclc/string_publisher/main.c
+++ b/rclc/string_publisher/main.c
@@ -18,9 +18,10 @@ std_msgs__msg__String msg;
 
 int counter = 0;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
 	(void) last_call_time;
+	(void) user_data;
 	if (timer != NULL) {
 	    sprintf(msg.data.data, "Hello from micro-ROS #%d", counter++);
 		msg.data.size = strlen(msg.data.data);
@@ -51,11 +52,12 @@ int main(int argc, const char * const * argv)
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
diff --git a/rclc/timer/main.c b/rclc/timer/main.c
index 9cbcce0..326a373 100644
--- a/rclc/timer/main.c
+++ b/rclc/timer/main.c
@@ -9,8 +9,9 @@
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc); return 1;}}
 #define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
 {
+  (void) user_data;
   if (timer != NULL) {
 	  printf("Timer callback executed. Last time %ld\n", last_call_time);
   }
@@ -31,11 +32,12 @@ int main()
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();