add test calling method while node spinning

drone_sensors/src/height_sensor.cpp

@@ -8,27 +8,30 @@ using namespace std::chrono_literals; // for time measurements
 
 class HeightSensorPublisher : public rclcpp::Node
 {
-	public:
+public:
 	HeightSensorPublisher() : Node("height_sensor_publisher")
 	{
 		publisher_ = this->create_publisher<std_msgs::msg::String>("height_sensor", 10);
 		timer_ = this->create_wall_timer(
-					1ms, std::bind(&HeightSensorPublisher::timer_callback, this));
+			500ms, std::bind(&HeightSensorPublisher::timer_callback, this));
 		RCLCPP_INFO(this->get_logger(), "Constructor of height sensor publisher");
 
 		setup_serial_port();
-
 	}
-	private:
 
+	void test()
+	{
+		RCLCPP_INFO(this->get_logger(), "Je moeder is een plopkoek");
+	}
 
+private:
 	/**
 	 * @brief Timer callback function to publish the height sensor data
 	 *
 	 */
 	void timer_callback()
 	{
-			char* readdata = new char[1];
+		char *readdata = new char[1];
 		serial_port.read(readdata, 1);
 		auto message = std_msgs::msg::String();
 		message.data = "Height: " + std::to_string((int)readdata[0]);
@@ -56,10 +59,6 @@ class HeightSensorPublisher : public rclcpp::Node
 		serial_port.close();
 	}
 
-		void test() 
-		{
-			RCLCPP_INFO(this->get_logger(), "Je moeder is een plopkoek");
-		}
 	rclcpp::TimerBase::SharedPtr timer_;
 	rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
 	std::fstream serial_port; // serial port for reading from device
@@ -67,17 +66,19 @@ class HeightSensorPublisher : public rclcpp::Node
 
 int main(int argc, char *argv[])
 {
-	rclcpp::init(argc,argv);
+	rclcpp::init(argc, argv);
 
 	rclcpp::executors::SingleThreadedExecutor executor;
-	auto node = std::make_shared<HeightSensorPublisher>();
+	rclcpp::Node::SharedPtr node = std::make_shared<HeightSensorPublisher>();
-	node.get()->setup_serial_port();
 	executor.add_node(node);
 	executor.spin();
 	// rclcpp::spin(std::make_shared<HeightSensorPublisher>());
+
+	while (true)
+	{
+		node->test();
+	}
 	rclcpp::shutdown();
 
 	return 0;
 }
-
-