From 15c8cb4b0836123b8351ec96f932fa94846ec6be Mon Sep 17 00:00:00 2001
From: akilpath <akilpath@gmail.com>
Date: Thu, 9 May 2024 22:06:53 +0000
Subject: [PATCH] Timer callback

---
 src/robot/control/include/control_node.hpp | 3 +++
 src/robot/control/src/control_node.cpp     | 6 +++++-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/robot/control/include/control_node.hpp b/src/robot/control/include/control_node.hpp
index ce4fe05..84539ec 100644
--- a/src/robot/control/include/control_node.hpp
+++ b/src/robot/control/include/control_node.hpp
@@ -19,6 +19,9 @@ class ControlNode : public rclcpp::Node {
 
   private:
     robot::ControlCore control_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    void timer_callback();
+
 };
 
 #endif
diff --git a/src/robot/control/src/control_node.cpp b/src/robot/control/src/control_node.cpp
index d921140..5ea9158 100644
--- a/src/robot/control/src/control_node.cpp
+++ b/src/robot/control/src/control_node.cpp
@@ -4,7 +4,11 @@
 
 ControlNode::ControlNode(): Node("control"), control_(robot::ControlCore())
 {
-  
+  timer_ = this->create_wall_timer(std::chrono::milliseconds(1500), std::bind(&ControlNode::timer_callback, this));
+}
+
+void ControlNode::timer_callback(){
+  RCLCPP_INFO(this->get_logger(), "Timer callbakc");
 }
 
 int main(int argc, char ** argv)