Rename. Add position publisher. Don't pulish image at 100Hz...

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(image_publisher)
+project(data_simulator)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -34,9 +34,26 @@ rclcpp_components_register_node(image_publisher_component
     EXECUTABLE image_publisher
 )
 
-ament_export_targets(export_image_publisher_component)
+add_library(position_publisher_component SHARED src/PositionPublisher.cpp)
-install(TARGETS image_publisher_component
+target_include_directories(position_publisher_component PUBLIC
-        EXPORT export_image_publisher_component
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_compile_features(position_publisher_component PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_link_libraries(position_publisher_component
+    rclcpp::rclcpp
+    rclcpp_components::component
+    ${sensor_msgs_TARGETS}
+    ${std_msgs_TARGETS}
+)
+
+rclcpp_components_register_node(position_publisher_component
+    PLUGIN "j7s::PositionPublisher"
+    EXECUTABLE position_publisher
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+install(TARGETS image_publisher_component position_publisher_component
+        EXPORT export_${PROJECT_NAME}
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
         RUNTIME DESTINATION bin

package.xml

@@ -1,7 +1,7 @@
 <?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>
+  <name>data_simulator</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="jpace121@gmail.com">jimmy</maintainer>

src/ImagePublisher.cpp

@@ -33,7 +33,7 @@ namespace j7s {
         m_compressedPublisher(this->create_publisher<sensor_msgs::msg::CompressedImage>("image/compressed", 1)),
         m_timer{}
     {
-        m_timer = this->create_timer(10ms, [this]() -> void {
+        m_timer = this->create_timer(33ms, [this]() -> void {
             const auto [image, compressedImage] = draw_image();
             m_publisher->publish(*image);
             m_compressedPublisher->publish(*compressedImage);

src/PositionPublisher.cpp

@@ -0,0 +1,37 @@
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
+#include <std_msgs/msg/header.hpp>
+
+#include <chrono>
+
+using namespace std::chrono_literals;
+
+
+namespace j7s {
+    class PositionPublisher : public rclcpp::Node {
+    public:
+        PositionPublisher(const rclcpp::NodeOptions& options);
+    private:
+        std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::NavSatFix>> m_publisher;
+        rclcpp::TimerBase::SharedPtr m_timer;
+    };
+};
+
+namespace j7s {
+    PositionPublisher::PositionPublisher(const rclcpp::NodeOptions& options):
+        Node("position_publisher", options),
+        m_publisher(this->create_publisher<sensor_msgs::msg::NavSatFix>("navsatfix", 1)),
+        m_timer{}
+    {
+        m_timer = this->create_timer(10ms, [this]() -> void {
+            sensor_msgs::msg::NavSatFix navSatMsg;
+            navSatMsg.header.stamp = this->now();
+            navSatMsg.latitude = 40.4387;
+            navSatMsg.longitude = 79.9972;
+            m_publisher->publish(navSatMsg);
+        });
+    }
+};
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(j7s::PositionPublisher)