initial commit

drone_sensors/src/height_sensor.cpp

@@ -0,0 +1,39 @@
+#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;
+}
+
+