From 9ace6a70b399b3a9c16833e3e2b298c83dcf3fcf Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Tue, 25 Apr 2023 13:52:47 +0000
Subject: [PATCH] add heartbeat package

---
 px4_connection/CMakeLists.txt    | 45 ++++++++++++++++++++++++++++++++
 px4_connection/package.xml       | 20 ++++++++++++++
 px4_connection/src/heartbeat.cpp | 10 +++++++
 src/px4_msgs                     |  2 +-
 src/px4_ros_com                  |  2 +-
 5 files changed, 77 insertions(+), 2 deletions(-)
 create mode 100644 px4_connection/CMakeLists.txt
 create mode 100644 px4_connection/package.xml
 create mode 100644 px4_connection/src/heartbeat.cpp

diff --git a/px4_connection/CMakeLists.txt b/px4_connection/CMakeLists.txt
new file mode 100644
index 00000000..874483cc
--- /dev/null
+++ b/px4_connection/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.5)
+project(px4_connection)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+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)
+find_package(rclcpp REQUIRED)
+
+add_executable(heartbeat src/heartbeat.cpp)
+target_include_directories(heartbeat PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(
+  heartbeat
+  "rclcpp"
+)
+
+install(TARGETS heartbeat
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/px4_connection/package.xml b/px4_connection/package.xml
new file mode 100644
index 00000000..4a804039
--- /dev/null
+++ b/px4_connection/package.xml
@@ -0,0 +1,20 @@
+<?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>px4_connection</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/px4_connection/src/heartbeat.cpp b/px4_connection/src/heartbeat.cpp
new file mode 100644
index 00000000..5d36d006
--- /dev/null
+++ b/px4_connection/src/heartbeat.cpp
@@ -0,0 +1,10 @@
+#include <cstdio>
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+
+  printf("hello world px4_connection package\n");
+  return 0;
+}
diff --git a/src/px4_msgs b/src/px4_msgs
index b64ef047..4db0a3f1 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
+Subproject commit 4db0a3f14ea81b9de7511d738f8ad9bd8ae5b3ad
diff --git a/src/px4_ros_com b/src/px4_ros_com
index 1562ff30..0bcf68bc 160000
--- a/src/px4_ros_com
+++ b/src/px4_ros_com
@@ -1 +1 @@
-Subproject commit 1562ff30d56b7ba26e4d2436724490f900cc2375
+Subproject commit 0bcf68bcb635199adcd134e8932932054e863c0d