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diff --git a/Cargo.toml b/Cargo.toml
index 98f95b1..2d9c5cb 100644
--- a/Cargo.toml
+++ b/Cargo.toml
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categories = ["command-line-utilities"]
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diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..b34834d
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,14 @@
+
+ rust_pub_sub
+ 0.0.0
+ TODO: Package description.
+ user
+ TODO: License declaration.
+
+ rclrs
+ std_msgs
+
+
+ ament_cargo
+
+
\ No newline at end of file
diff --git a/src/simple_publisher.rs b/src/simple_publisher.rs
new file mode 100644
index 0000000..0f9b224
--- /dev/null
+++ b/src/simple_publisher.rs
@@ -0,0 +1,41 @@
+use rclrs::{create_node, Context, Node, Publisher, RclrsError, QOS_PROFILE_DEFAULT};
+
+use std::{env, sync::Arc, thread, time::Duration};
+use std_msgs::msg::String as StringMsg;
+
+
+struct SimplePublisherNode {
+ node: Arc,
+ publisher: Arc>,
+}
+
+
+impl SimplePublisherNode {
+ fn new(context: &Context) -> Result {
+ let node = create_node(context, "simple_publisher").unwrap();
+ let publisher = node
+ .create_publisher("publish_hello", QOS_PROFILE_DEFAULT)
+ .unwrap();
+ Ok(Self { node, publisher })
+ }
+
+ fn publish_data(&self, increment: i32) -> Result {
+ let msg: StringMsg = StringMsg {
+ data: format!("Hello World {}", increment),
+ };
+ self.publisher.publish(msg).unwrap();
+ Ok(increment + 1_i32)
+ }
+}
+
+fn main() -> Result<(), RclrsError> {
+ let context = Context::new(env::args()).unwrap();
+ let publisher = Arc::new(SimplePublisherNode::new(&context).unwrap());
+ let publisher_other_thread = Arc::clone(&publisher);
+ let mut count: i32 = 0;
+ thread::spawn(move || loop {
+ thread::sleep(Duration::from_millis(1000));
+ count = publisher_other_thread.publish_data(count).unwrap();
+ });
+ rclrs::spin(publisher.node.clone())
+}
diff --git a/src/simple_subscriber.rs b/src/simple_subscriber.rs
new file mode 100644
index 0000000..10a95ca
--- /dev/null
+++ b/src/simple_subscriber.rs
@@ -0,0 +1,57 @@
+use rclrs::{create_node, Context, Node, RclrsError, Subscription, QOS_PROFILE_DEFAULT};
+use std::{
+ env,
+ sync::{Arc, Mutex},
+ thread,
+ time::Duration,
+};
+use std_msgs::msg::String as StringMsg;
+
+
+pub struct SimpleSubscriptionNode {
+ node: Arc,
+ _subscriber: Arc>,
+ data: Arc>>,
+}
+
+
+impl SimpleSubscriptionNode {
+ fn new(context: &Context) -> Result {
+ let node = create_node(context, "simple_subscription").unwrap();
+ let data: Arc>> = Arc::new(Mutex::new(None));
+ let data_mut: Arc>> = Arc::clone(&data);
+ let _subscriber = node
+ .create_subscription::(
+ "publish_hello",
+ QOS_PROFILE_DEFAULT,
+ move |msg: StringMsg| {
+ *data_mut.lock().unwrap() = Some(msg);
+ },
+ )
+ .unwrap();
+ Ok(Self {
+ node,
+ _subscriber,
+ data,
+ })
+ }
+ fn data_callback(&self) -> Result<(), RclrsError> {
+ if let Some(data) = self.data.lock().unwrap().as_ref() {
+ println!("{}", data.data);
+ } else {
+ println!("No message available yet.");
+ }
+ Ok(())
+ }
+}
+
+fn main() -> Result<(), RclrsError> {
+ let subscription =
+ Arc::new(SimpleSubscriptionNode::new(&Context::new(env::args()).unwrap()).unwrap());
+ let subscription_other_thread = Arc::clone(&subscription);
+ thread::spawn(move || loop {
+ thread::sleep(Duration::from_millis(1000));
+ subscription_other_thread.data_callback().unwrap();
+ });
+ rclrs::spin(subscription.node.clone())
+}