diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_utils/include/booars_utils/ros/function_timer.hpp b/aichallenge/workspace/src/aichallenge_submit/booars_utils/include/booars_utils/ros/function_timer.hpp
new file mode 100644
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--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_utils/include/booars_utils/ros/function_timer.hpp
@@ -0,0 +1,52 @@
+// Copyright 2024 Booars
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_
+#define BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_
+
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <utility>
+
+namespace booars_utils::ros {
+
+class FunctionTimer {
+ private:
+  rclcpp::TimerBase::SharedPtr timer_;
+
+ public:
+  using SharedPtr = std::shared_ptr<FunctionTimer>;
+
+  static SharedPtr create_function_timer(rclcpp::Node* node,
+                                         const double update_rate_hz,
+                                         std::function<void()> callback) {
+    return std::make_shared<FunctionTimer>(node, update_rate_hz, callback);
+  }
+
+  explicit FunctionTimer(rclcpp::Node* node, const double update_rate_hz,
+                         std::function<void()> callback) {
+    const double dt = 1.0 / update_rate_hz;
+
+    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
+        std::chrono::duration<double>(dt));
+    timer_ = std::make_shared<rclcpp::GenericTimer<decltype(callback)>>(
+        node->get_clock(), period, std::move(callback),
+        node->get_node_base_interface()->get_context());
+    node->get_node_timers_interface()->add_timer(timer_, nullptr);
+  }
+};
+
+}  // namespace booars_utils::ros
+
+#endif  // BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_