I have been trying to implement the micro-ros in the i.MX93 (it has an m33 core mcu).

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I have been trying to implement the micro-ros in the i.MX93 (it has an m33 core mcu).
What's already done:
1. Created a static library and linked to the mcuxpresso ide.
2. Implemented a custom transport function.
3. The setup has connected with the micro-ros agent, node and topic published.
But...
The rclc_executor_spin_some() is not working, i have tried multiple ways to invoke this but still can't figure out. My assumption reagarding the issue is that the time i am providing to the clock_gettime().
I have debugged the time functions of the mcu and getting the ticks values properly. But still the executor() is not working.

When the rcl_publish() is manually invoked the data is publishing to the topic.

How can i debug this issue. Will there be any issue with the static library that i have made first? if that's the case will this much steps work with the current setup?

How should i feed the time to the clock_gettime() ? if this ticks converted to sec and nsec not enough?
I have attached the files with this post, ROS Experts please help me.
Thank you.

[uros_transport.c](https://github.com/user-attachments/files/24434909/uros_transport.c)
[hello_world.c](https://github.com/user-attachments/files/24434911/hello_world.c)
[timer.c](https://github.com/user-attachments/files/24434912/timer.c)

_Originally posted by @Anandhu-Sudha in https://github.com/micro-ROS/micro_ros_setup/discussions/802_

Bắt đầu với các tệp đính kèm uros_transport.c, hello_world.c và timer.c, theo dõi lệnh gọi đến rclc_executor_spin_some() và các giá trị clock_gettime() trên lõi M33 của i.MX93. So sánh đường thực thi của executor với đường thực thi rcl_publish() hoạt động thủ công. Hoàn thành khi xác định được nguyên nhân khiến executor không hoạt động và ghi lại liệu đầu vào clock hay cấu hình thư viện tĩnh là nguyên nhân.

Do mô hình lập chỉ mục viết ra từ nội dung của issue.