Package for Robotics for Programmers book providing a copy of https://github.com/ros2/examples/tree/humble/rclpy/topics/minimal_publisher as separate repo.
Used in chapter 4.
This package contains a few different strategies for creating short nodes that blast out messages.
The publisher_old_school recipe creates a talker node very similar to how it would be done in ROS 1 using rospy.
The publisher_local_function recipe shows how to leverage the timers provided by ROS 2 to trigger message publication.
The publisher_member_function recipe creates a class MinimalPublisher that sends messages periodically.