#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"


class PubNode : public rclcpp::Node
{
public:
    PubNode() : Node("pub_node")
    {
        pub_ = this->create_publisher<std_msgs::msg::String>(
            "the_topic",
            rclcpp::QoS(10));
    }

private:
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
};

int main(int argc, char* argv[])
{
    rclcpp::init(argc, argv);

    rclcpp::executors::SingleThreadedExecutor exec;
    auto pub_node = std::make_shared<PubNode>();
    exec.add_node(pub_node);

    printf("spinning once\n");
    exec.spin_once();

    rclcpp::shutdown();
    return 0;
}