feat(les1): Add publisher + subscriber

src/les_pkg/CMakeLists.txt

@@ -14,13 +14,18 @@ find_package(std_msgs REQUIRED)        # gebruik maken von standaard messages
 
 
 add_executable(les1 src/les1.cpp)
+add_executable(les1_publisher src/les1/publisher.cpp)
+add_executable(les1_subscriber src/les1/subscriber.cpp)
 
 ament_target_dependencies(les1 rclcpp)
-#ament_target_dependencies(template_subscriber rclcpp std_msgs)
+ament_target_dependencies(les1_publisher rclcpp std_msgs)
+ament_target_dependencies(les1_subscriber rclcpp std_msgs)
 
 install (
   TARGETS
     les1
+    les1_publisher
+    les1_subscriber
   DESTINATION lib/${PROJECT_NAME}
 )
 

src/les_pkg/src/les1/publisher.cpp

@@ -0,0 +1,73 @@
+// 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."
+// ⠀⣠⣶⣶⣤⣁
+// ⢰⣷⡟⠻⣏⠻⣧⣀⠐⠈⠀⡈⠠⠀⠂⠀⢁⠈⠀⠄⠀⠁⣠⣴⣤⡈
+// ⠀⣿⢿⡀⠘⢦⡈⢻⣦⠐⠀⠀⠄⠀⠁⠈⠀⡀⠠⠀⣠⡿⣿⣯⣽⡇
+// ⠀⢻⣿⠛⢦⣄⣹⠦⣌⣳⡀⠀⣠⠈⠀⢾⠀⠀⢀⣼⢯⠞⢡⣿⣿⠁
+// ⠄⠘⣿⣷⣤⡀⠙⣆⠈⠻⣿⡄⠘⣇⠀⣾⠀⣴⠿⢲⣋⣤⣿⡿⠃⠀
+// ⠀⡀⠹⣿⣦⡉⠛⠚⣆⠀⠈⠻⣆⢻⢠⣇⡾⠃⢠⣟⣠⣾⡞⠃⠀
+// ⠂⡀⠄⠹⣿⣏⠛⠒⠾⠷⣄⠀⠙⣞⣿⠋⣀⣴⣋⣽⡿⠋
+// ⠂⠠⠀⠀⣨⣿⢿⣶⣒⠲⢮⣿⣶⣼⣧⣾⣭⣿⠟⠉
+// ⠐⠀⠁⣰⣿⠓⠒⣛⣻⠟⠛⣩⣿⣯⠙⡯⣿⡆
+// ⠐⠀⠄⠸⣿⡟⢉⡽⢛⣿⡿⠉⠀⢸⣧⡷⣾⡇
+// ⠀⢂⠀⠄⠹⢿⣿⣴⣯⠏⠀⠀⠀⣼⢸⣽⣷⠇
+// ⠠⠀⠂⢀⠀⢀⠈⠉⠀⠀⠀⠂⡀⠹⠿⠛⠁⠀⠀
+
+/* les1.cpp
+ * Assignment done in the first lesson explaining
+ * the basics of ROS2
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [04-09-2025] Wessel T:
+ *   - Implement template
+ */
+
+#include <cstdlib>
+#include "rclcpp/rclcpp.hpp"
+#include <rclcpp/clock.hpp>
+#include <rclcpp/time.hpp>
+
+#include "std_msgs/msg/int32.hpp"      //header for the standard message that is used for communication
+
+class NodeLes1 : public rclcpp::Node
+{
+public:
+	NodeLes1()
+    : Node("les1_publisher_node")
+	{
+		publisher_theanswer_ =
+      this->create_publisher<std_msgs::msg::Int32>("the_answer", 10);
+
+		timer_theanswer_ = this->create_wall_timer(
+ 	    std::chrono::milliseconds(1000),
+      std::bind(&NodeLes1::timer_theanswer_function, this)
+    );
+   }
+
+
+	void timer_theanswer_function() {
+		message_.data =  42 ;
+		publisher_theanswer_ ->publish(message_) ;
+	}
+
+private:
+	rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr publisher_theanswer_;
+	rclcpp::TimerBase::SharedPtr timer_theanswer_ ;
+
+	std_msgs::msg::Int32 message_ ;
+};
+
+int main(int argc,char *argv[]) {
+  rclcpp::init(argc,argv);
+
+  auto node = std::make_shared<NodeLes1>();
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+
+  return 0;
+}

src/les_pkg/src/les1/subscriber.cpp

@@ -0,0 +1,70 @@
+// 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."
+// ⠀⣠⣶⣶⣤⣁
+// ⢰⣷⡟⠻⣏⠻⣧⣀⠐⠈⠀⡈⠠⠀⠂⠀⢁⠈⠀⠄⠀⠁⣠⣴⣤⡈
+// ⠀⣿⢿⡀⠘⢦⡈⢻⣦⠐⠀⠀⠄⠀⠁⠈⠀⡀⠠⠀⣠⡿⣿⣯⣽⡇
+// ⠀⢻⣿⠛⢦⣄⣹⠦⣌⣳⡀⠀⣠⠈⠀⢾⠀⠀⢀⣼⢯⠞⢡⣿⣿⠁
+// ⠄⠘⣿⣷⣤⡀⠙⣆⠈⠻⣿⡄⠘⣇⠀⣾⠀⣴⠿⢲⣋⣤⣿⡿⠃⠀
+// ⠀⡀⠹⣿⣦⡉⠛⠚⣆⠀⠈⠻⣆⢻⢠⣇⡾⠃⢠⣟⣠⣾⡞⠃⠀
+// ⠂⡀⠄⠹⣿⣏⠛⠒⠾⠷⣄⠀⠙⣞⣿⠋⣀⣴⣋⣽⡿⠋
+// ⠂⠠⠀⠀⣨⣿⢿⣶⣒⠲⢮⣿⣶⣼⣧⣾⣭⣿⠟⠉
+// ⠐⠀⠁⣰⣿⠓⠒⣛⣻⠟⠛⣩⣿⣯⠙⡯⣿⡆
+// ⠐⠀⠄⠸⣿⡟⢉⡽⢛⣿⡿⠉⠀⢸⣧⡷⣾⡇
+// ⠀⢂⠀⠄⠹⢿⣿⣴⣯⠏⠀⠀⠀⣼⢸⣽⣷⠇
+// ⠠⠀⠂⢀⠀⢀⠈⠉⠀⠀⠀⠂⡀⠹⠿⠛⠁⠀⠀
+
+/* les1.cpp
+ * Assignment done in the first lesson explaining
+ * the basics of ROS2
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [04-09-2025] Wessel T:
+ *   - Implement template
+ */
+
+#include <cstdlib>
+#include "rclcpp/rclcpp.hpp"
+
+#include "std_msgs/msg/int32.hpp"      //header for the standard message that is used for communication
+
+using namespace std::placeholders;
+
+class NodeLes1 : public rclcpp::Node {
+public:
+	NodeLes1()
+    : Node("les1_subscriber_node")
+	{
+    subscriber_theanswer_ =
+      this->create_subscription<std_msgs::msg::Int32>(
+        "the_answer", 10,
+        std::bind(&NodeLes1::subscriber_theanswer_callback, this, _1)
+      );
+  }
+
+  void subscriber_theanswer_callback(const std_msgs::msg::Int32::SharedPtr msg) {
+    answer_to_all_    = msg->data;
+    RCLCPP_INFO(
+      this->get_logger(), "Hello subscriber the answer is: %d",answer_to_all_
+    );
+  }
+
+private:
+	rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscriber_theanswer_;
+
+  int answer_to_all_ = 0;
+};
+
+int main(int argc,char *argv[]) {
+  rclcpp::init(argc,argv);
+
+  auto node = std::make_shared<NodeLes1>();
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+
+  return 0;
+}