msg: add message translation node for ROS

msg/translation_node/src/main.cpp

@@ -0,0 +1,39 @@
+/****************************************************************************
+ * Copyright (c) 2024 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#include <memory>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include "../translations/all_translations.h"
+#include "pub_sub_graph.h"
+#include "service_graph.h"
+#include "monitor.h"
+
+using namespace std::chrono_literals;
+
+class RosTranslationNode : public rclcpp::Node
+{
+public:
+	RosTranslationNode() : Node("translation_node")
+	{
+		_pub_sub_graph = std::make_unique<PubSubGraph>(*this, RegisteredTranslations::instance().topicTranslations());
+		_service_graph = std::make_unique<ServiceGraph>(*this, RegisteredTranslations::instance().serviceTranslations());
+		_monitor = std::make_unique<Monitor>(*this, _pub_sub_graph.get(), _service_graph.get());
+	}
+
+private:
+	std::unique_ptr<PubSubGraph> _pub_sub_graph;
+	std::unique_ptr<ServiceGraph> _service_graph;
+	rclcpp::TimerBase::SharedPtr _node_update_timer;
+	std::unique_ptr<Monitor> _monitor;
+};
+
+int main(int argc, char * argv[])
+{
+	rclcpp::init(argc, argv);
+	rclcpp::spin(std::make_shared<RosTranslationNode>());
+	rclcpp::shutdown();
+	return 0;
+}