added ros node

motion/thruster_interface_asv/include/thruster_interface_asv/thruster_interface_asv_driver_lib.hpp

@@ -1,19 +1,20 @@
 // C++ Libraries
-#include <algorithm>
-#include <fstream>
-#include <iostream>
-#include <sstream>
 #include <stdint.h>
 #include <string>
 #include <vector>
+#include <fstream>
+#include <sstream>
+#include <iostream>
+#include <algorithm>
 
-#include <fcntl.h>         // Used for the O_RDWR define
+#include <fcntl.h>      // Used for the O_RDWR define
 #include <linux/i2c-dev.h> // Used for the I2C_SLAVE define
 #include <sys/ioctl.h>
-#include <unistd.h> // Used for the close function
+#include <unistd.h>     // Used for the close function
+
 
 // Declare functions we can use
 namespace thruster_interface_asv_driver_lib {
-void init(const std::string &pathToCSVFile, int16_t *minPWM, int16_t *maxPWM);
-int16_t *drive_thrusters(float *forces);
-} // namespace thruster_interface_asv_driver_lib
+    void init(const std::string& pathToCSVFile, int16_t* minPWM, int16_t* maxPWM);
+    int16_t* drive_thrusters(float* forces);
+}

motion/thruster_interface_asv/include/thruster_interface_asv/thruster_interface_asv_node.hpp

@@ -1,6 +1,10 @@
 // ROS2 libraries
-#include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/float32_multi_array.hpp>
+#include <std_msgs/msg/int16_multi_array.hpp>
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <chrono> // For the ROS2 Timer clock
 
 // Custom libraries
 #include <thruster_interface_asv/thruster_interface_asv_driver_lib.hpp>
+