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

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_

从附带的 uros_transport.c、hello_world.c 和 timer.c 文件开始，跟踪 i.MX93 M33 核心上对 rclc_executor_spin_some() 的调用以及 clock_gettime() 的值。将 executor 路径与手动正常工作的 rcl_publish() 路径进行比较。完成标准是确定 executor 无法工作的原因，并记录是时钟输入还是静态库设置导致了该问题。

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