// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).

//

// 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.

#include <std_msgs/msg/string.hpp>

#include <rclcpp/rclcpp.hpp>

#include <memory>

#include <chrono>

#include <cstdio>

using namespace std::chrono_literals;

class string_publisher_cpp_node : public rclcpp::Node

{

public:

string_publisher_cpp_node()

: Node("string_publisher_cpp")

{

rclcpp::QoS qos(10);

publisher_ = this->create_publisher<std_msgs::msg::String>("std_msgs_msg_String", qos);

timer_ = this->create_wall_timer(

500ms, std::bind(&string_publisher_cpp_node::timer_callback, this));

}

private:

void timer_callback()

{

msg.data = "Hello World " + std::to_string(num++);

publisher_->publish(msg);

std::cout << msg.data << std::endl;

}

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;

rclcpp::TimerBase::SharedPtr timer_;

std_msgs::msg::String msg;

size_t num = 0;

};

int main(int argc, char * argv[])

{

rclcpp::init(argc, argv);

rclcpp::spin(std::make_shared<string_publisher_cpp_node>());

rclcpp::shutdown();

return 0;

}