payload: {"action":"created","comment":{"url":"https://api.github.com/repos/ros2/ros2_documentation/pulls/comments/339288248","pull_request_review_id":307511392,"id":339288248,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDMzOTI4ODI0OA==","diff_hunk":"@@ -0,0 +1,456 @@\n+.. _CppPubSub:\n+\n+Writing a simple publisher and subscriber (C++)\n+===============================================\n+\n+**Goal:** Create and run a publisher and subscriber node using C++.\n+\n+**Tutorial level:** Beginner\n+\n+**Time:** 20 minutes\n+\n+.. contents:: Contents\n+   :depth: 2\n+   :local:\n+\n+Background\n+----------\n+\n+Nodes are executable processes that communicate over the ROS graph.\n+In this tutorial, the nodes will pass information in the form of string messages to each other over a :ref:`topic <ROS2Topics>`.\n+The example used here is a simple “talker” and “listener” system; one node publishes data and the other subscribes to the topic so it can receive that data.\n+\n+.. link nodes tutorial\n+\n+Prerequisites\n+-------------\n+\n+.. In previous tutorials, you learned how to :ref:`create a workspace <>` and :ref:`create a package <>`.\n+\n+Tasks\n+-----\n+\n+1 Create a package\n+^^^^^^^^^^^^^^^^^^\n+\n+Open a new terminal and :ref:`source your ROS 2 installation <ConfigROS2>` so that ``ros2`` commands will work.\n+\n+Navigate into the ``dev_ws`` directory created in a previous tutorial.\n+\n+.. link\n+\n+Recall that packages should be created in the ``src`` directory, not the root of the workspace.\n+So, navigate into ``dev_ws/src``, and run the package creation command:\n+\n+.. code-block:: bash\n+\n+    ros2 pkg create --build-type ament_cmake cpp_pubsub\n+\n+Your terminal will return a message verifying the creation of your package ``cpp_pubsub`` and all its necessary files and folders.\n+\n+Navigate into ``dev_ws/src/cpp_pubsub/src``.\n+Recall that this is the directory in any CMake package where executables belong.\n+\n+\n+2 Write the publisher node\n+^^^^^^^^^^^^^^^^^^^^^^^^^^\n+\n+Download the example talker code by entering the following command:\n+\n+.. tabs::\n+\n+   .. group-tab:: Linux/macOS\n+\n+      .. code-block:: bash\n+\n+            wget -O publisher_member_function.cpp https://raw.githubusercontent.com/ros2/examples/master/rclcpp/minimal_publisher/member_function.cpp\n+\n+   .. group-tab:: Windows\n+\n+      Right click this link and select Save As ``publisher_member_function.cpp``:\n+\n+      https://raw.githubusercontent.com/ros2/examples/master/rclcpp/minimal_publisher/member_function.cpp\n+\n+Now there will be a new file named ``publisher_member_function.cpp``.\n+Open the file using your preferred text editor.\n+\n+.. code-block:: C++\n+\n+    #include <chrono>\n+    #include <memory>\n+\n+    #include \"rclcpp/rclcpp.hpp\"\n+    #include \"std_msgs/msg/string.hpp\"\n+\n+    using namespace std::chrono_literals;\n+\n+    /* This example creates a subclass of Node and uses std::bind() to register a\n+    * member function as a callback from the timer. */\n+\n+    class MinimalPublisher : public rclcpp::Node\n+    {\n+      public:\n+        MinimalPublisher()\n+        : Node(\"minimal_publisher\"), count_(0)\n+        {\n+          publisher_ = this->create_publisher<std_msgs::msg::String>(\"topic\", 10);\n+          timer_ = this->create_wall_timer(\n+          500ms, std::bind(&MinimalPublisher::timer_callback, this));\n+        }\n+\n+      private:\n+        void timer_callback()\n+        {\n+          auto message = std_msgs::msg::String();\n+          message.data = \"Hello, world! \" + std::to_string(count_++);\n+          RCLCPP_INFO(this->get_logger(), \"Publishing: '%s'\", message.data.c_str());\n+          publisher_->publish(message);\n+        }\n+        rclcpp::TimerBase::SharedPtr timer_;\n+        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;\n+        size_t count_;\n+      };\n+\n+      int main(int argc, char * argv[])\n+      {\n+        rclcpp::init(argc, argv);\n+        rclcpp::spin(std::make_shared<MinimalPublisher>());\n+        rclcpp::shutdown();\n+        return 0;\n+      }\n+\n+2.1 Examine the code\n+~~~~~~~~~~~~~~~~~~~~\n+\n+The first line of code includes the ``<chrono>`` header so you can use ``chrono_literals``, or the ``500ms`` later on.\n+Following the ``memory`` header is the ``rclcpp/rclcpp.hpp`` include which allows you to use the most common pieces of the ROS 2 system.\n+Last is ``std_msgs/msg/string.hpp``, which includes the pre-made message type you will use to publish data.\n+\n+These lines represent the node’s dependencies.\n+Recall that dependencies have to be added to ``package.xml`` and ``CMakeLists.txt``, which you’ll do in the next section.\n+\n+.. code-block:: C++\n+\n+    #include <chrono>\n+    #include <memory>\n+\n+    #include \"rclcpp/rclcpp.hpp\"\n+    #include \"std_msgs/msg/string.hpp\"\n+\n+    using namespace std::chrono_literals;\n+\n+The next line creates the node class ``MinimalPublisher`` by inheriting from ``rclcpp::Node``.\n+Every ``this`` in the code is referring to the node.\n+\n+.. code-block:: C++\n+\n+    class MinimalPublisher : public rclcpp::Node\n+\n+The public constructor names the node ``minimal_publisher`` and initializes ``count_`` to 0.\n+Inside the brackets of the constructor, the publisher is initialized with the ``String`` message type, the topic name ``topic``, and the required queue size to limit messages in the event of a backup.\n+Next, ``timer_`` is initialized, which binds the ``timer_callback`` function to the node, and executes twice a second.\n+\n+.. code-block:: C++\n+\n+    public:\n+      MinimalPublisher()\n+      : Node(\"minimal_publisher\"), count_(0)\n+      {\n+        publisher_ = this->create_publisher<std_msgs::msg::String>(\"topic\", 10);\n+        timer_ = this->create_wall_timer(\n+        500ms, std::bind(&MinimalPublisher::timer_callback, this));\n+      }\n+\n+The ``timer_callback`` function is where the message data is set and the messages are actually published.\n+The ``RCLCPP_INFO`` macro ensures every published message is printed to the console.\n+\n+.. code-block:: C++\n+\n+    Private:\n+      void timer_callback()\n+      {\n+        auto message = std_msgs::msg::String();\n+        message.data = \"Hello, world! \" + std::to_string(count_++);\n+        RCLCPP_INFO(this->get_logger(), \"Publishing: '%s'\", message.data.c_str());\n+        publisher_->publish(message);\n+      }\n+\n+Last is the declaration of the timer, publisher, and counter fields.\n+\n+Following the ``MinimalPublisher`` class is ``main``, where the node actually executes.\n+``rclcpp::init`` initializes ROS 2, and ``rclcpp::spin`` causes the timer to activate, which causes the callback function the start publishing.\n+\n+.. code-block:: C++\n+\n+    int main(int argc, char * argv[])\n+    {\n+      rclcpp::init(argc, argv);\n+      rclcpp::spin(std::make_shared<MinimalPublisher>());\n+      rclcpp::shutdown();\n+      return 0;\n+    }\n+\n+2.2 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