From ef5035b92be273abeba0fd6870236e36ef1cd111 Mon Sep 17 00:00:00 2001
From: Timo Schneider <timoschneider04@gmail.com>
Date: Fri, 22 Aug 2025 11:37:20 +0200
Subject: [PATCH] wip: testing

---
 CMakeLists.txt |  6 ++++--
 src/main.cpp   | 43 +++++++++++++++++++++++++------------------
 2 files changed, 29 insertions(+), 20 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 35f39d3..8560147 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,12 +1,14 @@
 cmake_minimum_required(VERSION 3.20.0)
 
-project(sherpa_ros2_sensor_node)
+SET(CMAKE_CXX_COMPILER /opt/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc)
 
 list(APPEND ZEPHYR_EXTRA_MODULES ${CMAKE_CURRENT_SOURCE_DIR}/modules/micro_ros_zephyr_module/modules/libmicroros)
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
 
+project(sherpa_ros2_sensor_node)
+
 target_sources(app PRIVATE src/main.cpp)
 
 if(${BOARD} STREQUAL "native_sim")
   add_subdirectory(src/emulation)
-endif()
\ No newline at end of file
+endif()
diff --git a/src/main.cpp b/src/main.cpp
index 1bdc62a..3fe45fb 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,25 +1,32 @@
-#include <zephyr/kernel.h>
-#include <zephyr/device.h>
-#include <zephyr/sys/printk.h>
-#include <zephyr/devicetree.h>
-#include <zephyr/drivers/gpio.h>
-
 #include <rcl/rcl.h>
+#include <rclc/rclc.h>
+#include <uxr/client/config.h>
+#include <uxr/client/client.h>
+#include <zephyr/kernel.h>
 
-#if defined(CONFIG_BOARD_NATIVE_SIM)
-#include "gpio_visualizer.hpp"
-#endif
+// IP and port of the PC running XRCE-DDS agent
+#define AGENT_IP "192.168.1.100"
+#define AGENT_PORT 8888
 
 int main(void)
-{ 
-    #if defined(CONFIG_BOARD_NATIVE_SIM)
-    spawn_gpio_visualizer_thread();
-    #endif
+{
+    // Initialize micro-ROS support for Zephyr UDP transport
+    rmw_uros_set_custom_transport(
+        true,  // enable
+        NULL,  // user data (none)
+        zephyr_transport_open,
+        zephyr_transport_close,
+        zephyr_transport_write,
+        zephyr_transport_read);
 
-	while (1) {
-		printk("Hello World! %s\n", CONFIG_BOARD_TARGET);
-		k_sleep(K_SECONDS(2));
-	}
+    // Initialize rcl context, node, publisher, subscriber, etc...
 
-	return 0;
+    // Your app code here
+
+    while (1) {
+        // Spin or sleep
+        k_sleep(K_MSEC(100));
+    }
+
+    return 0;
 }