This package contains a few different strategies for creating short nodes that blast out messages. The publisher_old_school recipe creates a talker node very similar to how it would be done in ROS 1 using rospy. The publisher_local_function recipe shows how to leverage the timers provided by ROS 2 to trigger message publication. The publisher_member_function recipe creates a class MinimalPublisher that sends messages periodically. The publisher_member_function_with_wait_for_all_acked recipe creates a class MinimalPublisher that sends messages and wait for all messages are acknowledged.