From 70e8b5326d68e283c99696e4a7f971c1eb5bb186 Mon Sep 17 00:00:00 2001
From: "jerome.bedier" <jerome.bedier@ecam.fr>
Date: Tue, 18 Nov 2025 14:03:53 +0100
Subject: [PATCH] added the cmd_pub.cpp

---
 ros_midterm/src/cmd_pub.cpp | 42 +++++++++++++++++++++++++++++++++++++
 1 file changed, 42 insertions(+)
 create mode 100644 ros_midterm/src/cmd_pub.cpp

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;
+}