fix: Removed hack for getting clock from timer

Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>

Author: Janosch Machowinski

rclcpp/src/rclcpp/executors/events_cbg_executor/timer_manager.hpp

@@ -128,16 +128,6 @@ class TimerQueue
     std::function<void(const std::function<void()> & executed_cb)> timer_ready_callback;
   };
 
-  class GetClockHelper : public rclcpp::TimerBase
-  {
-public:
-    static rclcpp::Clock::SharedPtr get_clock(const rclcpp::TimerBase & timer)
-    {
-      // SUPER ugly hack, but we need the correct clock
-      return static_cast<const GetClockHelper *>(&timer)->clock_;
-    }
-  };
-
 public:
   TimerQueue(rcl_clock_type_t timer_type, const rclcpp::Context::SharedPtr & context)
   : timer_type(timer_type), clock_waiter(context)
@@ -262,7 +252,7 @@ class TimerQueue
 
     std::unique_ptr<TimerData> data = std::make_unique<TimerData>(TimerData{std::move(handle),
           timer,
-          GetClockHelper::get_clock(*timer), false, timer_ready_callback});
+          timer->get_clock(), false, timer_ready_callback});
 
     timer->set_on_reset_callback(
       [data_ptr = data.get(), this](size_t) {

rclcpp/src/rclcpp/timer.cpp

@@ -208,7 +208,6 @@ TimerBase::clear_on_reset_callback()
     on_reset_callback_ = nullptr;
   }
 }
-
 void
 TimerBase::set_on_reset_callback(rcl_event_callback_t callback, const void * user_data)
 {
@@ -218,3 +217,8 @@ TimerBase::set_on_reset_callback(rcl_event_callback_t callback, const void * use
     rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to set timer on reset callback");
   }
 }
+
+const rclcpp::Clock::SharedPtr & TimerBase::get_clock() const
+{
+  return clock_;
+}