From 85f2cda9b1f380de05dab74b6695deb80e3c4fa2 Mon Sep 17 00:00:00 2001
From: Wessel Tip <wessel@go2it.eu>
Date: Thu, 4 Sep 2025 11:47:02 +0200
Subject: [PATCH] chore(les1): Clean up template

---
 src/les_pkg/src/les1.cpp | 137 +++++++++++----------------------------
 1 file changed, 37 insertions(+), 100 deletions(-)

diff --git a/src/les_pkg/src/les1.cpp b/src/les_pkg/src/les1.cpp
index af2f3d3..56076c6 100644
--- a/src/les_pkg/src/les1.cpp
+++ b/src/les_pkg/src/les1.cpp
@@ -1,116 +1,53 @@
-// #include "rclcpp/rclcpp.hpp"
+// Wessel T <contact@wessel.gg> (https://wessel.gg/)
 //
-// namespace les_ws;
-//
-// class LesNode : public rclcpp::Node {
-// public:
-//   LesNode()
-//     : Node("node_les1")
-//   {
-//     timer_ = this->create_wall_timer(std::chrono::seconds(1), std::bind)
-//   }
-//
-// private:
-//   int counter_ = 0;
-//
-//   rclcpp::TimerBase::SharedPtr timer_;
-// };
-//
-// int main(int argc, char **argv) {
-//   rclcpp::init(argc, argv);
-//   auto node = std::make_shared<LesNode>();
-//   rclcpp::spin(node);
-//   rclcpp::shutdown();
-//
-//   return 0;
-// }
-//
-/*
---Node description:
-...what the node is doing (functionally)...
-When node is created the node prints "Hello you are new to ROS2" on terminal,
-further it does nothing more than being alive
-*/
+// "Build your own tower.
+// A kingdom freed from malice.
+// Create a world of bounty, peace and beauty."
+// ⠀⣠⣶⣶⣤⣁
+// ⢰⣷⡟⠻⣏⠻⣧⣀⠐⠈⠀⡈⠠⠀⠂⠀⢁⠈⠀⠄⠀⠁⣠⣴⣤⡈
+// ⠀⣿⢿⡀⠘⢦⡈⢻⣦⠐⠀⠀⠄⠀⠁⠈⠀⡀⠠⠀⣠⡿⣿⣯⣽⡇
+// ⠀⢻⣿⠛⢦⣄⣹⠦⣌⣳⡀⠀⣠⠈⠀⢾⠀⠀⢀⣼⢯⠞⢡⣿⣿⠁
+// ⠄⠘⣿⣷⣤⡀⠙⣆⠈⠻⣿⡄⠘⣇⠀⣾⠀⣴⠿⢲⣋⣤⣿⡿⠃⠀
+// ⠀⡀⠹⣿⣦⡉⠛⠚⣆⠀⠈⠻⣆⢻⢠⣇⡾⠃⢠⣟⣠⣾⡞⠃⠀
+// ⠂⡀⠄⠹⣿⣏⠛⠒⠾⠷⣄⠀⠙⣞⣿⠋⣀⣴⣋⣽⡿⠋
+// ⠂⠠⠀⠀⣨⣿⢿⣶⣒⠲⢮⣿⣶⣼⣧⣾⣭⣿⠟⠉
+// ⠐⠀⠁⣰⣿⠓⠒⣛⣻⠟⠛⣩⣿⣯⠙⡯⣿⡆
+// ⠐⠀⠄⠸⣿⡟⢉⡽⢛⣿⡿⠉⠀⢸⣧⡷⣾⡇
+// ⠀⢂⠀⠄⠹⢿⣿⣴⣯⠏⠀⠀⠀⣼⢸⣽⣷⠇
+// ⠠⠀⠂⢀⠀⢀⠈⠉⠀⠀⠀⠂⡀⠹⠿⠛⠁⠀⠀
 
-/*
---Software changes:
-one line per change
-(1) created 31.3.2025: developer-Tilmann Koster reviewer(s)-Niek Ottens
-(2) changed 01.4.2025: xxx functionality added ... : developer-Tilmann Koster reviewer(s)-Niek Ottens
-...
-*/
+/* les1.cpp
+ * Assignment done in the first lesson explaining
+ * the basics of ROS2
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [04-09-2025] Wessel T:
+ *   - Implement template
+ */
 
-
-//-- tester: Sander Gieling
-
-
-
-//--general includes
 #include <cstdlib>
 #include "rclcpp/rclcpp.hpp"
 
-//--custom includes
-//...
-
-//--using
-//...
-
-
-//--Node class
-
 class Template_General : public rclcpp::Node
 {
-	public:
-	//-- constuctor:
-	Template_General() : Node("template_general_node")
-	{
-	 //--communication and timer objects:
-	 //see templates for subcribers, action server ...
-	 //...
-
-	 //--customs functions:
-		custom_example();
-	 //...
+public:
+	Template_General()
+    : Node("les1_node")
+	{}
 
+	void custom_example() {
+	  RCLCPP_INFO(this->get_logger() ,"Hello you are new to ROS2");
 	}
-
-	//-- communication and timer functions
-	//...
-
-	//--customs functions:
-	void custom_example()
-	{
-
-		/*your custom example code */
-		 RCLCPP_INFO(this->get_logger() ,"Hello you are new to ROS2"); //code example
-		/*your custom example code */
-
-	}
-
-	//--custom variables:
-
-	private:
-
-	//--rclcpp variables:
-	// ...
-
-	//--custom variables:
-	//...
-
 };
 
+int main(int argc,char *argv[]) {
+  rclcpp::init(argc,argv);
 
-int main(int argc,char *argv[])
-{
-rclcpp::init(argc,argv)	;
+  auto node = std::make_shared<Template_General>();
 
-auto node = std::make_shared<Template_General>();
-
-
-rclcpp::spin(node);
-
-rclcpp::shutdown();
-
-return 0;
+  rclcpp::spin(node);
+  rclcpp::shutdown();
 
+  return 0;
 }