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.
  
  #ifndef MINIMAL_PUBLISHER__MINIMAL_PUBLISHER_HPP_
  #define MINIMAL_PUBLISHER__MINIMAL_PUBLISHER_HPP_
  
  #include <chrono>
  #include <memory>
  
  #include "rclcpp/rclcpp.hpp"
  #include "std_msgs/msg/string.hpp"
  
  using namespace std::chrono_literals;
  
  /* This example creates a subclass of Node and uses std::bind() to register a
   * member function as a callback from the timer. */
  
  class MinimalPublisher : public rclcpp::Node
  {
  public:
    MinimalPublisher();
  
  private:
    void timer_callback();
  
    rclcpp::TimerBase::SharedPtr timer_;
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
    size_t count_;
  };
  
  #endif  // MINIMAL_PUBLISHER__MINIMAL_PUBLISHER_HPP_