diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 00000000..aaeea878
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,22 @@
+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "",
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "includePath": [
+                "/opt/ros/humble/include/**",
+                "/home/ubuntu/ros2_ws/src/beacon_positioning/include/**",
+                "/usr/include/**"
+            ],
+            "name": "ROS",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "configurationProvider": "ms-vscode.cmake-tools"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 00000000..46d9a84f
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "ros.distro": "humble"
+}
\ No newline at end of file
diff --git a/src/beacon_positioning/CMakeLists.txt b/src/beacon_positioning/CMakeLists.txt
index 1969b155..cb6a1ee9 100644
--- a/src/beacon_positioning/CMakeLists.txt
+++ b/src/beacon_positioning/CMakeLists.txt
@@ -21,9 +21,10 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
 
 add_executable(tracker_position src/tracker_position.cpp)
-ament_target_dependencies(tracker_position rclcpp)
+ament_target_dependencies(tracker_position rclcpp std_msgs)
 
 target_include_directories(tracker_position PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
diff --git a/src/beacon_positioning/package.xml b/src/beacon_positioning/package.xml
index 28d5fe0e..120478b7 100644
--- a/src/beacon_positioning/package.xml
+++ b/src/beacon_positioning/package.xml
@@ -4,11 +4,12 @@
   <name>beacon_positioning</name>
   <version>0.0.0</version>
   <description>ROS 2 package to read the Terabee Robot Positioning System beacons positions</description>
-  <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+  <maintainer email="semmer99@gmail.com">sem</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/src/beacon_positioning/src/tracker_position.cpp b/src/beacon_positioning/src/tracker_position.cpp
index 712de830..bfd45cb5 100644
--- a/src/beacon_positioning/src/tracker_position.cpp
+++ b/src/beacon_positioning/src/tracker_position.cpp
@@ -1,5 +1,29 @@
 #include <cstdio>
+#include <chrono>
+
 #include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+class BeaconPositioningPublisher : public rclcpp::Node
+{
+  public:
+    BeaconPositioningPublisher() : Node("beacon_positioning_publisher") {
+      publisher_ = this->create_publisher<std_msgs::msg::String>("beacon_positioning", 10);
+      timer_ = this->create_wall_timer(
+        500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this));
+    }
+  private:
+    void timer_callback() {
+      auto message = std_msgs::msg::String();
+      message.data = "Hello beacons!";
+      RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
+      publisher_->publish(message);
+    }
+    rclcpp::TimerBase::SharedPtr timer_; // timer to trigger the 
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; // pointer to publisher object
+};
 
 int main(int argc, char ** argv)
 {
@@ -7,5 +31,9 @@ int main(int argc, char ** argv)
   (void) argv;
 
   printf("hello world beacon_positioning package\n");
+
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<BeaconPositioningPublisher>());
+  rclcpp::shutdown();
   return 0;
 }
diff --git a/src/px4_msgs b/src/px4_msgs
index 4db0a3f1..b64ef047 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit 4db0a3f14ea81b9de7511d738f8ad9bd8ae5b3ad
+Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
diff --git a/src/px4_ros_com b/src/px4_ros_com
index 0bcf68bc..1562ff30 160000
--- a/src/px4_ros_com
+++ b/src/px4_ros_com
@@ -1 +1 @@
-Subproject commit 0bcf68bcb635199adcd134e8932932054e863c0d
+Subproject commit 1562ff30d56b7ba26e4d2436724490f900cc2375