Use timer_was_ready_at_tp

Author: Mauro Passerino

rclcpp/include/rclcpp/executors/timers_manager.hpp

@@ -106,7 +106,8 @@ class TimersManager
    * @return true if head timer was ready at tp
    */
   bool execute_head_timer(
-    std::chrono::time_point<std::chrono::steady_clock> tp = TimePoint::max());
+    std::chrono::time_point<std::chrono::steady_clock> tp =
+    std::chrono::time_point<std::chrono::steady_clock>::max());
 
   /**
    * @brief Get the amount of time before the next timer expires.
@@ -133,8 +134,6 @@ class TimersManager
   // See https://en.cppreference.com/w/cpp/thread/condition_variable/wait_for
   static constexpr std::chrono::nanoseconds MAX_TIME = std::chrono::hours(90);
 
-  using TimePoint = std::chrono::time_point<std::chrono::steady_clock>;
-
 private:
   RCLCPP_DISABLE_COPY(TimersManager)
 

rclcpp/src/rclcpp/executors/timers_manager.cpp

@@ -138,12 +138,10 @@ bool TimersManager::execute_head_timer(
 
   bool timer_ready = false;
 
-  if (timepoint != TimePoint::max()) {
-    // A ready timer will return a negative duration when calling time_until_trigger
-    auto timepoint_timer_ready = std::chrono::steady_clock::now() + head->time_until_trigger();
+  auto max_time = std::chrono::time_point<std::chrono::steady_clock>::max();
 
-    // Here we check if the timer was already ready at timepoint
-    timer_ready = timepoint_timer_ready < timepoint;
+  if (timepoint != max_time) {
+    timer_ready = timer_was_ready_at_tp(head, timepoint);
   } else {
     timer_ready = head->is_ready();
   }