From c4c25bf297355818bf2fd53bac37141fec9c8e12 Mon Sep 17 00:00:00 2001
From: Janice <lockser498jubia@gmail.com>
Date: Sat, 1 Feb 2025 20:20:57 -0500
Subject: [PATCH] Add basic publisher node

---
 src/rove_radiation/package.xml                  |  4 ++--
 .../rove_radiation/radiation_publisher.py       | 17 +++++++++++++++--
 src/rove_radiation/setup.py                     |  4 ++++
 3 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/src/rove_radiation/package.xml b/src/rove_radiation/package.xml
index f6248e6..d70187b 100644
--- a/src/rove_radiation/package.xml
+++ b/src/rove_radiation/package.xml
@@ -3,8 +3,8 @@
 <package format="3">
   <name>rove_radiation</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="janice@todo.todo">janice</maintainer>
+  <description>Radiation mapping for rove</description>
+  <maintainer email="capra@ens.etsmtl.ca">rove</maintainer>
   <license>TODO: License declaration</license>
 
   <test_depend>ament_copyright</test_depend>
diff --git a/src/rove_radiation/rove_radiation/radiation_publisher.py b/src/rove_radiation/rove_radiation/radiation_publisher.py
index 4f6f2cc..897f9b0 100644
--- a/src/rove_radiation/rove_radiation/radiation_publisher.py
+++ b/src/rove_radiation/rove_radiation/radiation_publisher.py
@@ -4,12 +4,25 @@
 
 class RadiationPublisher(Node):
     def __init__(self):
-        super().__init('radiation_publisher')
+        super().__init__('radiation_publisher')
         self.publisher = self.create_publisher(Float32, '/dose_rate', 10)
         timer_period = 1
         self.timer = self.create_timer(timer_period, self.publish_radiation_data)
+        self.get_logger().info('Radiation publisher node has started.')
     
     def publish_radiation_data(self):
-        msg = Float32
+        msg = Float32()
         msg.data = 0.35 # à remplacer par la vraie valeur
+        self.publisher.publish(msg)
+        self.get_logger().info(f'Publishing radiation data: {msg.data}')
+    
+def main(args=None):
+    rclpy.init(args=args)
+    node = RadiationPublisher()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
 
diff --git a/src/rove_radiation/setup.py b/src/rove_radiation/setup.py
index 1a99672..caa5749 100644
--- a/src/rove_radiation/setup.py
+++ b/src/rove_radiation/setup.py
@@ -1,4 +1,6 @@
 from setuptools import find_packages, setup
+import os
+from glob import glob
 
 package_name = 'rove_radiation'
 
@@ -10,6 +12,8 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name), glob('launch/*.launch.py'))
+        
     ],
     install_requires=['setuptools'],
     zip_safe=True,