I think you’ve got an outdated version of the codebase since this particular problem was fixed here. I recommend to download 107-Arduino-UAVCAN:master since this one contains the latest library + examples guaranteed to work.
I have still a couple of to-do-items before another round of this library will be released, so serving yourself directly from master is probably the best thing to do for now
This example is just something to get you started and play around. Also quite beneficial is that you can swap for another sensor and just write a UAVCAN v1 node for that one. If you were to build a finished product than that’s of course not the route to take. But for rapid prototyping/evaluation/learning this is definitely the way to go
PS: The example is tailored towards a Arduino MKR stack because that’s what I had at hand. Meanwhile 107-Arduino-UAVCAN supports a couple of platforms with a ton of boards which are considerable more powerful than the ATSAMD21G18 Cortex-M0 found on the Arduino MKR boards.