text: // Copyright 2020 xGonZh10n.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #include <chrono>
  
  #include "minimal_composition/publisher_node.hpp"
  
  using namespace std::chrono_literals;
  
  PublisherNode::PublisherNode(rclcpp::NodeOptions options)
  : Node("publisher_node", options)
  , count_(0)
  {
    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
    timer_ = this->create_wall_timer(
      500ms, std::bind(&PublisherNode::on_timer, this));
  }
  
  void PublisherNode::on_timer()
  {
    auto message = std_msgs::msg::String();
    message.data = "Hello, world! " + std::to_string(count_++);
    RCLCPP_INFO(this->get_logger(), "Publisher: '%s'", message.data.c_str());
    publisher_->publish(message);
  }
  
  #include "rclcpp_components/register_node_macro.hpp"
  
  RCLCPP_COMPONENTS_REGISTER_NODE(PublisherNode)