From bcd456c0de362a94c13345998e89507b8c99124c Mon Sep 17 00:00:00 2001
From: Wessel Tip <wessel@go2it.eu>
Date: Thu, 4 Sep 2025 11:30:29 +0200
Subject: [PATCH] feat(les1): Initial Tilmann boilerplate

---
 .gitignore                 |  37 ++++++++++++
 src/les_pkg/CMakeLists.txt |  41 +++++++++++++
 src/les_pkg/package.xml    |  20 +++++++
 src/les_pkg/src/les1.cpp   | 116 +++++++++++++++++++++++++++++++++++++
 4 files changed, 214 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 src/les_pkg/CMakeLists.txt
 create mode 100644 src/les_pkg/package.xml
 create mode 100644 src/les_pkg/src/les1.cpp

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..c32553f
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,37 @@
+
+# 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
+
diff --git a/src/les_pkg/CMakeLists.txt b/src/les_pkg/CMakeLists.txt
new file mode 100644
index 0000000..9df323c
--- /dev/null
+++ b/src/les_pkg/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.8)
+project(les_pkg)
+
+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)
+find_package(rclcpp_action REQUIRED)   # nodig als er een actionserver node wordt gemaakt
+find_package(std_msgs REQUIRED)        # gebruik maken von standaard messages
+#find_package(templates_interfaces REQUIRED)   # gebruik maken van project messages
+
+
+add_executable(les1 src/les1.cpp)
+
+ament_target_dependencies(les1 rclcpp)
+#ament_target_dependencies(template_subscriber rclcpp std_msgs)
+
+install (
+  TARGETS
+    les1
+  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()
diff --git a/src/les_pkg/package.xml b/src/les_pkg/package.xml
new file mode 100644
index 0000000..5c890eb
--- /dev/null
+++ b/src/les_pkg/package.xml
@@ -0,0 +1,20 @@
+<?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>les_pkg</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>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/les_pkg/src/les1.cpp b/src/les_pkg/src/les1.cpp
new file mode 100644
index 0000000..af2f3d3
--- /dev/null
+++ b/src/les_pkg/src/les1.cpp
@@ -0,0 +1,116 @@
+// #include "rclcpp/rclcpp.hpp"
+//
+// 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
+*/
+
+/*
+--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
+...
+*/
+
+
+//-- 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();
+	 //...
+
+	}
+
+	//-- 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)	;
+
+auto node = std::make_shared<Template_General>();
+
+
+rclcpp::spin(node);
+
+rclcpp::shutdown();
+
+return 0;
+
+}