library files updated

Author: bharadwaj-chukkala

include/beginner_tutorials/publisher_function.hpp

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+/**
+ * @file publisher_function.hpp
+ * @author Bharadwaj Chukkala (bchukkal@umd.edu)
+ * @brief Object Oriented publisher Implementation for ROS2
+ * @version 0.1
+ * @date 2022-11-10
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+ #pragma once
+
+#include <chrono>
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+/**
+ * @brief Class (subclass of Node) and uses std::bind() to register a member function as a callback from the timer.
+ * 
+ */
+class MinimalPublisher : public rclcpp::Node {
+ public:
+    MinimalPublisher();
+
+ private:
+  void timer_callback();
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  size_t count_;
+};

include/beginner_tutorials/subscriber_function.hpp

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+
+#pragma once
+
+/**
+ * @file subscriber_function.hpp
+ * @author Bharadwaj Chukkala (bchukkal@umd.edu)
+ * @brief Object Oriented Subscriber Implementation for ROS2
+ * @version 0.1
+ * @date 2022-11-10
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using std::placeholders::_1;
+
+/**
+ * @brief Class (subclass of Node) and registers a member function as a callback from the topic.
+ * 
+ */
+class MinimalSubscriber : public rclcpp::Node {
+ public:
+    MinimalSubscriber();
+
+ private:
+  void topic_callback(const std_msgs::msg::String::SharedPtr msg) const;
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+};