feat(hw1): First iteration of clock homework

.gitignore

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+
+# Created by https://www.toptal.com/developers/gitignore/api/ros2
+# Edit at https://www.toptal.com/developers/gitignore?templates=ros2
+
+### ROS2 ###
+install/
+log/
+build/
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+*~
+
+# Emacs
+.#*
+
+# Colcon custom files
+COLCON_IGNORE
+AMENT_IGNORE
+
+# End of https://www.toptal.com/developers/gitignore/api/ros2
+

src/hw_1_clock/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(hw_1_clock)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(1_clock_print src/1-clock-print.cpp)
+add_executable(2_clock_steady_continuous src/2-clock-steady-continuous.cpp)
+
+ament_target_dependencies(1_clock_print rclcpp)
+ament_target_dependencies(2_clock_steady_continuous rclcpp)
+
+install (
+  TARGETS
+    1_clock_print
+    2_clock_steady_continuous
+  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()
+
+ament_package()

src/hw_1_clock/package.xml

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+<?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>hw_1_clock</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="wessel@todo.todo">wessel</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/hw_1_clock/src/1-clock-print.cpp

@@ -0,0 +1,57 @@
+// Wessel T <contact@wessel.gg> (https://wessel.gg/)
+//
+// "Build your own tower.
+// A kingdom freed from malice.
+// Create a world of bounty, peace and beauty."
+// ⠀⣠⣶⣶⣤⣁
+// ⢰⣷⡟⠻⣏⠻⣧⣀⠐⠈⠀⡈⠠⠀⠂⠀⢁⠈⠀⠄⠀⠁⣠⣴⣤⡈
+// ⠀⣿⢿⡀⠘⢦⡈⢻⣦⠐⠀⠀⠄⠀⠁⠈⠀⡀⠠⠀⣠⡿⣿⣯⣽⡇
+// ⠀⢻⣿⠛⢦⣄⣹⠦⣌⣳⡀⠀⣠⠈⠀⢾⠀⠀⢀⣼⢯⠞⢡⣿⣿⠁
+// ⠄⠘⣿⣷⣤⡀⠙⣆⠈⠻⣿⡄⠘⣇⠀⣾⠀⣴⠿⢲⣋⣤⣿⡿⠃⠀
+// ⠀⡀⠹⣿⣦⡉⠛⠚⣆⠀⠈⠻⣆⢻⢠⣇⡾⠃⢠⣟⣠⣾⡞⠃⠀
+// ⠂⡀⠄⠹⣿⣏⠛⠒⠾⠷⣄⠀⠙⣞⣿⠋⣀⣴⣋⣽⡿⠋
+// ⠂⠠⠀⠀⣨⣿⢿⣶⣒⠲⢮⣿⣶⣼⣧⣾⣭⣿⠟⠉
+// ⠐⠀⠁⣰⣿⠓⠒⣛⣻⠟⠛⣩⣿⣯⠙⡯⣿⡆
+// ⠐⠀⠄⠸⣿⡟⢉⡽⢛⣿⡿⠉⠀⢸⣧⡷⣾⡇
+// ⠀⢂⠀⠄⠹⢿⣿⣴⣯⠏⠀⠀⠀⣼⢸⣽⣷⠇
+// ⠠⠀⠂⢀⠀⢀⠈⠉⠀⠀⠀⠂⡀⠹⠿⠛⠁⠀⠀
+
+/* 1-clock-print.cpp
+ * A node that will wait for 20 seconds and 88778567 nanoseconds, after which it will print the 
+ * current system time and exit.
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [04-09-2025] Wessel T: Implement template
+ * [07-09-2025] Wessel T: (BASE) Work out assignment
+ */
+
+#include <cstdlib>
+#include <chrono>
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono;
+
+class NodeHw1ClockWait : public rclcpp::Node {
+public:
+  NodeHw1ClockWait() : Node("node_hw1_clock_wait") {
+    // Wait for 20 seconds and 88778567 nanoseconds
+    auto duration = seconds(20) + nanoseconds(88778567);
+    rclcpp::sleep_for(duration, this->get_node_options().context());
+
+    print_time();
+  }
+
+  void print_time() {
+    auto now = rclcpp::Clock().now();
+    RCLCPP_INFO(this->get_logger(), "Current system time: %.0f", now.seconds());
+  }
+};
+
+int main(int argc, char *argv[]) {
+  rclcpp::init(argc, argv);
+  // Node will start in constructor. Will exit after print is done
+  auto node = std::make_shared<NodeHw1ClockWait>();
+  rclcpp::shutdown();
+  return 0;
+}

src/hw_1_clock/src/2-clock-steady-continuous.cpp

@@ -0,0 +1,75 @@
+// Wessel T <contact@wessel.gg> (https://wessel.gg/)
+//
+// "Build your own tower.
+// A kingdom freed from malice.
+// Create a world of bounty, peace and beauty."
+// ⠀⣠⣶⣶⣤⣁
+// ⢰⣷⡟⠻⣏⠻⣧⣀⠐⠈⠀⡈⠠⠀⠂⠀⢁⠈⠀⠄⠀⠁⣠⣴⣤⡈
+// ⠀⣿⢿⡀⠘⢦⡈⢻⣦⠐⠀⠀⠄⠀⠁⠈⠀⡀⠠⠀⣠⡿⣿⣯⣽⡇
+// ⠀⢻⣿⠛⢦⣄⣹⠦⣌⣳⡀⠀⣠⠈⠀⢾⠀⠀⢀⣼⢯⠞⢡⣿⣿⠁
+// ⠄⠘⣿⣷⣤⡀⠙⣆⠈⠻⣿⡄⠘⣇⠀⣾⠀⣴⠿⢲⣋⣤⣿⡿⠃⠀
+// ⠀⡀⠹⣿⣦⡉⠛⠚⣆⠀⠈⠻⣆⢻⢠⣇⡾⠃⢠⣟⣠⣾⡞⠃⠀
+// ⠂⡀⠄⠹⣿⣏⠛⠒⠾⠷⣄⠀⠙⣞⣿⠋⣀⣴⣋⣽⡿⠋
+// ⠂⠠⠀⠀⣨⣿⢿⣶⣒⠲⢮⣿⣶⣼⣧⣾⣭⣿⠟⠉
+// ⠐⠀⠁⣰⣿⠓⠒⣛⣻⠟⠛⣩⣿⣯⠙⡯⣿⡆
+// ⠐⠀⠄⠸⣿⡟⢉⡽⢛⣿⡿⠉⠀⢸⣧⡷⣾⡇
+// ⠀⢂⠀⠄⠹⢿⣿⣴⣯⠏⠀⠀⠀⣼⢸⣽⣷⠇
+// ⠠⠀⠂⢀⠀⢀⠈⠉⠀⠀⠀⠂⡀⠹⠿⠛⠁⠀⠀
+
+/* 1-clock-print.cpp
+ * A node that will wait for 20 seconds and 88778567 nanoseconds, after which it will print the 
+ * current system time and exit.
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [04-09-2025] Wessel T: Implement template
+ * [07-09-2025] Wessel T: (BASE) Work out assignment
+ */
+
+#include <cstdlib>
+#include <chrono>
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono;
+
+class NodeHw1AlternatingClock : public rclcpp::Node {
+public:
+  NodeHw1AlternatingClock() 
+    : rclcpp::Node("node_hw1_clock_alternate"), use_steady_(true) 
+  {
+    timer_ = this->create_wall_timer(
+      seconds(5),
+      std::bind(&NodeHw1AlternatingClock::timer_callback, this)
+    );
+  }
+
+private:
+  rclcpp::TimerBase::SharedPtr timer_;
+  bool use_steady_;
+
+  void timer_callback() {
+    if (use_steady_) {
+      rclcpp::Clock steady_clock(RCL_STEADY_TIME);
+      auto now = steady_clock.now();
+
+      RCLCPP_INFO(this->get_logger(), "[STEADY] %.0f", now.seconds());
+    } else {
+      rclcpp::Clock system_clock(RCL_SYSTEM_TIME);
+      auto now = system_clock.now();
+
+      RCLCPP_INFO(this->get_logger(), "[SYSTEM] %.0f", now.seconds());
+    }
+
+    use_steady_ = !use_steady_;
+  }
+};
+
+int main(int argc, char *argv[]) {
+  rclcpp::init(argc, argv);
+
+  auto node = std::make_shared<NodeHw1AlternatingClock>();
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+
+  return 0;
+}