diff --git a/src/les_pkg/src/les1.cpp b/src/les_pkg/src/les1.cpp index 56076c6..7ad5021 100644 --- a/src/les_pkg/src/les1.cpp +++ b/src/les_pkg/src/les1.cpp @@ -28,23 +28,35 @@ #include #include "rclcpp/rclcpp.hpp" +#include +#include -class Template_General : public rclcpp::Node +class NodeLes1 : public rclcpp::Node { public: - Template_General() + NodeLes1() : Node("les1_node") - {} + { + timer_ = this->create_wall_timer( + std::chrono::seconds(1), + std::bind(&NodeLes1::print_time, this) + ); + } - void custom_example() { - RCLCPP_INFO(this->get_logger() ,"Hello you are new to ROS2"); + void print_time() { + auto now = clock_.now(); + RCLCPP_INFO(this->get_logger(), "Time: %.0f", now.seconds()); } + +private: + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Clock clock_; }; int main(int argc,char *argv[]) { rclcpp::init(argc,argv); - auto node = std::make_shared(); + auto node = std::make_shared(); rclcpp::spin(node); rclcpp::shutdown();