healthcheck.cpp

// simple_publisher.cpp
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

class SimplePublisher : public rclcpp::Node
{
public:
    SimplePublisher() : Node("simple_publisher")
    {
        publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
        timer_ = this->create_wall_timer(
            std::chrono::seconds(1), 
            std::bind(&SimplePublisher::timer_callback, this));
    }

private:
    void timer_callback()
    {
        auto message = std_msgs::msg::String();
        message.data = "Hello, ROS2!";
        RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
        publisher_->publish(message);
    }
    
    rclcpp::TimerBase::SharedPtr timer_;
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
};

int main(int argc, char * argv[])
{
    rclcpp::init(argc, argv);
    auto node = std::make_shared<SimplePublisher>();
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}