initial commit

drone_sensors/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(drone_sensors)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# add executable so that the node can be run with ros2 run
+add_executable(height_sensor src/height_sensor.cpp)
+ament_target_dependencies(height_sensor rclcpp std_msgs)
+
+# add install targets section so ros2 run can find the executable
+install(TARGETS
+height_sensor
+DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

drone_sensors/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>drone_sensors</name>
+  <version>0.0.0</version>
+  <description>package for the environment sensors of the 5G drone (height meter, object detection)</description>
+  <maintainer email="sem.hoeven@gmail.com">Sem van der Hoeven</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>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

drone_sensors/src/height_sensor.cpp

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+#include <chrono> //time measurement
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+class HeightSensorPublisher : public rclcpp::Node
+{
+	public:
+		HeightSensorPublisher() : Node("height_sensor_publisher")
+			{
+				publisher_ = this->create_publisher<std_msgs::msg::String>("height_sensor", 10);
+				timer_ = this->create_wall_timer(
+					500ms, std::bind(&HeightSensorPublisher::timer_callback, this));
+
+			}
+	private:
+		void timer_callback()
+		{
+			auto message = std_msgs::msg::String();
+			message.data = "Hello heigth sensor!";
+			RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str());
+			publisher_->publish(message);
+		}
+		rclcpp::TimerBase::SharedPtr timer_;
+		rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+};
+
+int main(int argc, char *argv[])
+{
+	rclcpp::init(argc,argv);
+	rclcpp::spin(std::make_shared<HeightSensorPublisher>());
+	rclcpp::shutdown();
+
+	return 0;
+}
+
+