#include <chrono>
#include <memory>

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

 using namespace std::chrono_literals;

/* This example creates a subclass of Node and uses std::bind() to register a
 * member function as a callback from the timer. */

class MinimalPublisher : public rclcpp::Node
{
   public:
  MinimalPublisher()
  : Node("minimal_publisher"), count_(0)
  {
    publisher_ = this->create_publisher<std_msgs::msg::String>("String_msg_Communication", 10);
    timer_ = this->create_wall_timer(
      500ms, std::bind(&MinimalPublisher::timer_callback, this));
  }

private:
  void timer_callback()
  { static std::vector<std::string> my_list = {"I am learning ROS2", "I will learn MicroRos", "I will make my First Hardware robot", "Turtlesimbot Oh Yessss","-----"};
    auto message = std_msgs::msg::String();
    message.data = my_list[count_%my_list.size()];
    //RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
    publisher_->publish(message);
    count_++;
  }
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
  size_t count_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalPublisher>());
  rclcpp::shutdown();
  return 0;
}