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

[Anandhu-Sudha]

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
hello_world.c
timer.c

Originally posted by @Anandhu-Sudha in #802