feat: basic node set up

Author: NathanaelGandhi

CMakeLists.txt

@@ -7,19 +7,25 @@ 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)
+
+add_executable(thermal_zone_publisher
+  src/thermal_zone_publisher.cc
+  src/thermal_zone_publisher_node.cc)
+target_include_directories(thermal_zone_publisher PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(thermal_zone_publisher PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+ament_target_dependencies(thermal_zone_publisher
+  rclcpp)
+
+install(TARGETS
+  thermal_zone_publisher
+  DESTINATION lib/${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()
 

include/thermal_zone_publisher/thermal_zone_publisher_node.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+
+class ThermalZonePublisherNode : public rclcpp::Node
+{
+public:
+  ThermalZonePublisherNode(const std::string & node_name);
+  ~ThermalZonePublisherNode();
+
+protected:
+private:
+};

package.xml

@@ -3,9 +3,11 @@
 <package format="3">
   <name>thermal_zone_publisher</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="[email protected]">builder</maintainer>
-  <license>TODO: License declaration</license>
+  <description>ROS2 node that will create publishers for thermal zones found on linux systems</description>
+  <maintainer email="[email protected]">Nathanael Gandhi</maintainer>
+  <license>MIT</license>
+
+  <depend>rclcpp</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

src/thermal_zone_publisher.cc

@@ -0,0 +1,17 @@
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+
+#include "thermal_zone_publisher/thermal_zone_publisher_node.h"
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  rclcpp::executors::SingleThreadedExecutor exec;
+  exec.add_node(std::make_shared<ThermalZonePublisherNode>("thermal_zone_publisher"));
+  exec.spin();
+
+  rclcpp::shutdown();
+
+  return 0;
+}

src/thermal_zone_publisher_node.cc

@@ -0,0 +1,12 @@
+#include "thermal_zone_publisher/thermal_zone_publisher_node.h"
+
+ThermalZonePublisherNode::ThermalZonePublisherNode(const std::string & node_name)
+: rclcpp::Node(node_name)
+{
+  RCLCPP_INFO_STREAM(this->get_logger(), "default constructor executed");
+}
+
+ThermalZonePublisherNode::~ThermalZonePublisherNode()
+{
+  RCLCPP_INFO_STREAM(this->get_logger(), "destructor executed");
+}