create_wall_timer bind's callback funtion won't work [closed]

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HI all:

i am new to ROS2-Foxy, i create a ros2 node class which inherit from rclcpp::Node as a compoment like this: RCLCPP_COMPONENTS_REGISTER_NODE(utopia::drivers::rtk::SerialNode), i decleared a walltime timer in two ways(lamda funtion or not lamda ), when i launch this node, the publisher inside this wall_timer's bind funtion never was called.

• desicreption:

way 1 no lamda: first : define a timer as class member in Class's header like this : rclcpp::TimerBase::SharedPtr read_timer_;

then: implement timer in my class's constructor like this : `read_timer_ = this->create_wall_timer( 50ms, std::bind(&SerialNode::read_callback, this)); (Result: the callback never have called )

way 2(lamda):

   `read_timer_ = create_wall_timer(
    50ms, [this](){
         printf("read gpgga callback \n"); 
        unsigned char  buffer[BUFFER_SIZE] = {0};
        int serial_byte_num = serial_.read(buffer, BUFFER_SIZE);
        auto message = std_msgs::msg::ByteMultiArray();
        gpgga_publisher_->publish(message);
    }); `
   (**Result: the lamda  function  never have called also ** )

Is there anything i missed? i also try not to resigist node not as a compoment and wirte a main.cpp to build an excute node like this: (Still the function that i bind to wall_timer still not be called ):

-----main.cpp----

 `int main(int argc, char* argv[]){
 rclcpp::init(argc, argv);
 rclcpp::NodeOptions options(rclcpp::NodeOptions().use_intra_process_comms(true));
 rclcpp::spin(std::make_shared<SerialNode>(options));
 rclcpp::shutdown();
 return 0;
 } `

Anyone can help me , i will be really appreciate !!