From 01b13b7afdaa9840c04e4bc8b79561578f1587f1 Mon Sep 17 00:00:00 2001
From: James Pace <jpace121@gmail.com>
Date: Thu, 1 Jan 2026 19:14:42 -0500
Subject: [PATCH] Init commit.

---
 CMakeLists.txt         | 45 +++++++++++++++++++++++++++++++++++
 package.xml            | 21 ++++++++++++++++
 src/ImagePublisher.cpp | 54 ++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 120 insertions(+)
 create mode 100644 CMakeLists.txt
 create mode 100644 package.xml
 create mode 100644 src/ImagePublisher.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..225ee03
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.8)
+project(image_publisher)
+
+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)
+find_package(rclcpp_components REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(cv_bridge REQUIRED)
+
+add_library(image_publisher_component SHARED src/ImagePublisher.cpp)
+target_include_directories(image_publisher_component PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_compile_features(image_publisher_component PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_link_libraries(image_publisher_component
+    rclcpp::rclcpp
+    rclcpp_components::component
+    image_transport::image_transport
+    ${sensor_msgs_TARGETS}
+    ${std_msgs_TARGETS}
+    ${OpenCV_LIBS}
+    cv_bridge::cv_bridge
+)
+
+rclcpp_components_register_node(image_publisher_component
+    PLUGIN "j7s::ImagePublisher"
+    EXECUTABLE image_publisher
+)
+
+ament_export_targets(export_image_publisher_component)
+install(TARGETS image_publisher_component
+        EXPORT export_image_publisher_component
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+)
+
+ament_package()
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..20c2051
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,21 @@
+<?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>image_publisher</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="jpace121@gmail.com">jimmy</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>cv_bridge</depend>
+  <depend>image_transport</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>rclcpp_components</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/ImagePublisher.cpp b/src/ImagePublisher.cpp
new file mode 100644
index 0000000..566bd89
--- /dev/null
+++ b/src/ImagePublisher.cpp
@@ -0,0 +1,54 @@
+#include <rclcpp/rclcpp.hpp>
+#include <image_transport/image_transport.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <std_msgs/msg/header.hpp>
+#include <cv_bridge/cv_bridge.hpp>
+
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+
+
+#include <chrono>
+
+using namespace std::chrono_literals;
+
+
+namespace j7s {
+    class ImagePublisher : public rclcpp::Node {
+    public:
+        ImagePublisher(const rclcpp::NodeOptions& options);
+    private:
+        image_transport::ImageTransport m_transport;
+        image_transport::Publisher m_publisher;
+        rclcpp::TimerBase::SharedPtr m_timer;
+
+        sensor_msgs::msg::Image::SharedPtr draw_image();
+    };
+};
+
+namespace j7s {
+    ImagePublisher::ImagePublisher(const rclcpp::NodeOptions& options):
+        Node("image_publisher", options),
+        m_transport(std::shared_ptr<rclcpp::Node>(this)),
+        m_publisher(m_transport.advertise("image", 1)),
+        m_timer{}
+    {
+        m_timer = this->create_timer(10ms, [this]() -> void {
+            const auto msg = draw_image();
+            m_publisher.publish(msg);
+        });
+    }
+
+    sensor_msgs::msg::Image::SharedPtr ImagePublisher::draw_image()
+    {
+        cv::Mat mat = cv::Mat::zeros(200, 200, CV_8UC3);
+
+        std_msgs::msg::Header header;
+        header.stamp = this->now();
+        cv_bridge::CvImage image(header, "mono8", mat);
+        return image.toImageMsg();
+    }
+};
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(j7s::ImagePublisher)