src/beacon_positioning/src/tracker_position.cpp

@@ -10,6 +10,7 @@ class BeaconPositioningPublisher : public rclcpp::Node
 {
   public:
     BeaconPositioningPublisher() : Node("beacon_positioning_publisher") {
+      printf("Constructor of beacon positioning publisher\n");
       publisher_ = this->create_publisher<std_msgs::msg::String>("beacon_positioning", 10);
       timer_ = this->create_wall_timer(
         500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this));
@@ -20,6 +21,7 @@ class BeaconPositioningPublisher : public rclcpp::Node
       message.data = "Hello beacons!";
       RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
       publisher_->publish(message);
+      printf("published message yeet");
     }
     rclcpp::TimerBase::SharedPtr timer_; // timer to trigger the 
     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; // pointer to publisher object
@@ -34,6 +36,8 @@ int main(int argc, char ** argv)
 
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<BeaconPositioningPublisher>());
+  printf("spun node");
   rclcpp::shutdown();
+  printf("shut down rclcpp");
   return 0;
 }