Rename. Add conga line launch file.

include/j7s_simple/j7s_parrot.hpp

@@ -0,0 +1,30 @@
+// Copyright 2023 James Pace
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#pragma once
+
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class J7sParrot : public rclcpp::Node
+{
+public:
+    J7sParrot();
+
+private:
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr m_publisher;
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr m_subscription;
+    const std::string m_name;
+};

include/j7s_simple/j7s_publisher.hpp

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+// Copyright 2023 James Pace
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#pragma once
+
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class J7sPublisher : public rclcpp::Node
+{
+public:
+    J7sPublisher();
+
+private:
+    rclcpp::TimerBase::SharedPtr m_timer;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr m_publisher;
+    const std::string m_message;
+    unsigned int m_count;
+};