diff --git a/ros2_ws/src/sinusoidal_wave/package.xml b/ros2_ws/src/sinusoidal_wave/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c90d284db85351b811c13f7bf9c10c3fd92a5b92
--- /dev/null
+++ b/ros2_ws/src/sinusoidal_wave/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>sinusoidal_wave</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="s.wullrich@fu-berlin.de">basti</maintainer>
+ <license>TODO: License declaration</license>
+
+ <exec_depend>rclpy</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/ros2_ws/src/sinusoidal_wave/resource/sinusoidal_wave b/ros2_ws/src/sinusoidal_wave/resource/sinusoidal_wave
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2_ws/src/sinusoidal_wave/setup.cfg b/ros2_ws/src/sinusoidal_wave/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..3d096f7e1fc20089f3a75a84f2bd792ca9c018b6
--- /dev/null
+++ b/ros2_ws/src/sinusoidal_wave/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/sinusoidal_wave
+[install]
+install_scripts=$base/lib/sinusoidal_wave
diff --git a/ros2_ws/src/sinusoidal_wave/setup.py b/ros2_ws/src/sinusoidal_wave/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..538f3fd7aa378c5a5d7e0cde5bd579e5fffc69d8
--- /dev/null
+++ b/ros2_ws/src/sinusoidal_wave/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'sinusoidal_wave'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='basti',
+ maintainer_email='s.wullrich@fu-berlin.de',
+ description='TODO: Package description',
+ license='TODO: License declaration',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'talker = sinusoidal_wave.publisher_member_function:main',
+ ],
+ },
+)
diff --git a/ros2_ws/src/sinusoidal_wave/sinusoidal_wave/__init__.py b/ros2_ws/src/sinusoidal_wave/sinusoidal_wave/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2_ws/src/sinusoidal_wave/sinusoidal_wave/publisher_member_function.py b/ros2_ws/src/sinusoidal_wave/sinusoidal_wave/publisher_member_function.py
new file mode 100644
index 0000000000000000000000000000000000000000..1c0afe613c8d2a5de6d5df953ac4ae58f5e9e103
--- /dev/null
+++ b/ros2_ws/src/sinusoidal_wave/sinusoidal_wave/publisher_member_function.py
@@ -0,0 +1,57 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+import math
+import rclpy
+
+from rclpy.node import Node
+from autominy_msgs.msg import NormalizedSteeringCommand, SpeedCommand
+
+
+class MinimalPublisher(Node):
+
+ def __init__(self):
+ super().__init__('minimal_publisher')
+ self.publisher_Speed_ = self.create_publisher(SpeedCommand, '/actuators/speed', 10)
+ self.publisher_Steering_ = self.create_publisher(NormalizedSteeringCommand, '/actuators/steering_normalized', 10)
+ timer_period = 0.01 # seconds
+ self.timer = self.create_timer(timer_period, self.timer_callback)
+ self.i = 0.0
+
+ def timer_callback(self):
+ msg_Speed = SpeedCommand()
+ msg_Speed.value = 0.3
+ msg_Steering = NormalizedSteeringCommand()
+ msg_Steering.value = math.sin(self.i)
+ self.publisher_Speed_.publish(msg_Speed)
+ self.publisher_Steering_.publish(msg_Steering)
+ self.i += 0.01
+
+
+def main(args=None):
+ rclpy.init(args=args)
+
+ minimal_publisher = MinimalPublisher()
+
+ rclpy.spin(minimal_publisher)
+
+ # Destroy the node explicitly
+ # (optional - otherwise it will be done automatically
+ # when the garbage collector destroys the node object)
+ minimal_publisher.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2_ws/src/sinusoidal_wave/test/test_copyright.py b/ros2_ws/src/sinusoidal_wave/test/test_copyright.py
new file mode 100644
index 0000000000000000000000000000000000000000..97a39196e84db97954341162a6d2e7f771d938c0
--- /dev/null
+++ b/ros2_ws/src/sinusoidal_wave/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/ros2_ws/src/sinusoidal_wave/test/test_flake8.py b/ros2_ws/src/sinusoidal_wave/test/test_flake8.py
new file mode 100644
index 0000000000000000000000000000000000000000..27ee1078ff077cc3a0fec75b7d023101a68164d1
--- /dev/null
+++ b/ros2_ws/src/sinusoidal_wave/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/ros2_ws/src/sinusoidal_wave/test/test_pep257.py b/ros2_ws/src/sinusoidal_wave/test/test_pep257.py
new file mode 100644
index 0000000000000000000000000000000000000000..b234a3840f4c5bd38f043638c8622b8f240e1185
--- /dev/null
+++ b/ros2_ws/src/sinusoidal_wave/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'