commit e77f4ca86918b7d0e13b62bfb0c6379f1e18df13
Author: Maxime MARTINEZ <maxime.martinez@ecam.fr>
Date:   Tue Nov 18 15:29:21 2025 +0100

    Téléverser les fichiers vers "/"

diff --git a/cmd_pub.cpp b/cmd_pub.cpp
new file mode 100644
index 0000000..f2dde26
--- /dev/null
+++ b/cmd_pub.cpp
@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.8)
+project(ros_midterm)
+include <math.h> //for rand funcion
+
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+void ang_velo(velocity)
+	{
+	int velocity;
+	velocity*=M_PI;
+	velocity/=180;
+	return ang_velo;
+	}
+	
+void main {
+	this->publisher msgs::geometry_msgs::velocity("imu_bsub",10)
+	wait 1;
+	return ang_velo(velocity)
+	}
+	
+
+ament_package()