text: // Copyright (c) 2020 Intel Corporation. All rights reserved.
  //
  // 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.
  
  'use strict';
  
  /* eslint-disable camelcase */
  
  const rclnodejs = require('../index.js');
  
  rclnodejs
    .init()
    .then(() => {
      const node = rclnodejs.createNode('publisher_message_example_node');
  
      // We have to make sure the message type of publisher and subscription is
      // the same, although it seems meaningless when sending raw messages.
      const publisher = node.createPublisher(
        'test_msgs/msg/BasicTypes',
        'chatter'
      );
      let count = 0;
  
      setInterval(function () {
        publisher.publish(Buffer.from('Hello ROS World'));
        console.log(`Publish ${++count} messages.`);
      }, 1000);
  
      rclnodejs.spin(node);
    })
    .catch((e) => {
      console.log(e);
    });
  