Add identity publisher.

src/IdentityPublisher.cpp

@@ -0,0 +1,36 @@
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+#include <cstdlib>
+
+#include <chrono>
+
+using namespace std::chrono_literals;
+
+
+namespace j7s {
+    class IdentityPublisher : public rclcpp::Node {
+    public:
+        IdentityPublisher(const rclcpp::NodeOptions& options);
+    private:
+        std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>> m_publisher;
+        rclcpp::TimerBase::SharedPtr m_timer;
+    };
+};
+
+namespace j7s {
+    IdentityPublisher::IdentityPublisher(const rclcpp::NodeOptions& options):
+        Node("identity_publisher", options),
+        m_publisher(this->create_publisher<std_msgs::msg::String>("identity", 1)),
+        m_timer{}
+    {
+        const std::string identity = "namespace: data_simulator\njaus_id: 123.1.1";
+        m_timer = this->create_timer(1000ms, [this, identity]() -> void {
+            std_msgs::msg::String msg;
+            msg.data = identity;
+            m_publisher->publish(msg);
+        });
+    }
+};
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(j7s::IdentityPublisher)