diff --git a/ros_midterm/CMakeLists.txt b/ros_midterm/CMakeLists.txt
new file mode 100644
index 0000000..d06837c
--- /dev/null
+++ b/ros_midterm/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.8)
+project(ros_midterm)
+
+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(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+#imu_sub
+add_executable(imu_sub src/imu_sub.cpp)
+ament_target_dependencies(imu_sub rclcpp sensor_msgs)
+
+#cmd_pub
+add_executable(cmd_pub src/cmd_pub.cpp)
+ament_target_dependencies(cmd_pub rclcpp geometry_msgs)
+
+#install
+install(TARGETS
+  imu_sub
+  cmd_pub
+  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/ros_midterm/package.xml b/ros_midterm/package.xml
new file mode 100644
index 0000000..c7f3bf0
--- /dev/null
+++ b/ros_midterm/package.xml
@@ -0,0 +1,23 @@
+<?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>ros_midterm</name>
+  <version>0.0.0</version>
+  <description>ROS2 midterm exam 11/18/2025</description>
+  <maintainer email="jerome.bedier@ecam.fr">ros</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</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/ros_midterm/src/cmd_pub.cpp b/ros_midterm/src/cmd_pub.cpp
new file mode 100644
index 0000000..00b180f
--- /dev/null
+++ b/ros_midterm/src/cmd_pub.cpp
@@ -0,0 +1,42 @@
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include <random>
+
+class CmdPublisher : public rclcpp::Node
+{
+public:
+  CmdPublisher() : Node("cmd_pub"), gen_(rd_()), dis_(-2.0, 2.0)
+  {
+    publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 10);
+    timer_ = this->create_wall_timer(
+      std::chrono::seconds(1),
+      std::bind(&CmdPublisher::timer_callback, this));
+    
+    RCLCPP_INFO(this->get_logger(), "CMD Publisher node started");
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = geometry_msgs::msg::Twist();
+    message.angular.z = dis_(gen_);
+    
+    RCLCPP_INFO(this->get_logger(), "Publishing Angular Velocity Z: %.4f rad/s", 
+                message.angular.z);
+    publisher_->publish(message);
+  }
+
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  std::random_device rd_;
+  std::mt19937 gen_;
+  std::uniform_real_distribution<> dis_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<CmdPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}
diff --git a/ros_midterm/src/imu_sub.cpp b/ros_midterm/src/imu_sub.cpp
new file mode 100644
index 0000000..42bdd74
--- /dev/null
+++ b/ros_midterm/src/imu_sub.cpp
@@ -0,0 +1,31 @@
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+
+class ImuSubscriber : public rclcpp::Node
+{
+public:
+  ImuSubscriber() : Node("imu_sub")
+  {
+    subscription_ = this->create_subscription<sensor_msgs::msg::Imu>(
+      "/imu", 10, std::bind(&ImuSubscriber::imu_callback, this, std::placeholders::_1));
+    
+    RCLCPP_INFO(this->get_logger(), "IMU Subscriber node started");
+  }
+
+private:
+  void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg)
+  {
+    RCLCPP_INFO(this->get_logger(), "Angular Velocity Z: %.4f rad/s", 
+                msg->angular_velocity.z);
+  }
+
+  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr subscription_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<ImuSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}