diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake
index a783b77fd504783ab2d5f8d9fac0ff59be8ba645..ad57ff79dc0a38580f33bae46d4aca214e506cf0 100644
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -105,7 +105,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/atmel/same70xplained/default.cmake b/boards/atmel/same70xplained/default.cmake
index 7f69ce4e3d2397cc15f9916e2929220d2f04a07b..b385d82d9ee298b0064fb696b5702fa5c9e307e5 100644
--- a/boards/atmel/same70xplained/default.cmake
+++ b/boards/atmel/same70xplained/default.cmake
@@ -105,7 +105,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake
index dcef387ebf70c2dbd7181e2e32a5d7e010ebd976..5a9cf851ef67a58959d7c7dc1500b616e4150ffa 100644
--- a/boards/auav/x21/default.cmake
+++ b/boards/auav/x21/default.cmake
@@ -110,7 +110,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
index 5c02b0857f09b63cfad6ec5f860fb8c0017dec44..b8429b08dc30ab00fefbc6cd8447621b33a68f7a 100644
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -110,7 +110,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/gumstix/aerocore2/default.cmake b/boards/gumstix/aerocore2/default.cmake
index 0a6e9b99e2b4569dd9f6225dcb6a7221fc43864d..20bbb5f213c0457f8d62dc7a5ef6697a50de32db 100644
--- a/boards/gumstix/aerocore2/default.cmake
+++ b/boards/gumstix/aerocore2/default.cmake
@@ -106,7 +106,6 @@ px4_add_board(
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hwtest # Hardware test
#matlab_csv_serial
- #publisher
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
#rover_steering_control # Rover example app
diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake
index 88b176b28fc168f08fa5b85a2b9cab164d52233d..c046329e5152e6e31749f087b1ff7f43c35d6a0c 100644
--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -88,7 +88,6 @@ px4_add_board(
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hwtest # Hardware test
#matlab_csv_serial
- #publisher
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
#rover_steering_control # Rover example app
diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake
index 474563aa47a8727b4af19dc7af6347310ddfb079..f30ff7603c6fd3b0a412e24de3fdfe182e11214a 100644
--- a/boards/intel/aerofc-v1/rtps.cmake
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -91,7 +91,6 @@ px4_add_board(
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hwtest # Hardware test
#matlab_csv_serial
- #publisher
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
#rover_steering_control # Rover example app
diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake
index 5ed0eb407d71a7beb5dae0a7b02cfb0ec39f9960..4d5fb4db867f9fd746497ccbcf449f20d17bf58e 100644
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -106,7 +106,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake
index a5f9703a167f4e042a8ad84cdb358d64e06c8bb9..35e9cd31475037843185a7325bb5368a26eda055 100644
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -100,7 +100,6 @@ px4_add_board(
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hwtest # Hardware test
#matlab_csv_serial
- #publisher
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
#rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
index 165851519915055aea3bcf890c7cf4b07501410f..e113030b37152b5fe0b879a27d14481e75d0e8bf 100644
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -118,7 +118,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake
index 62ed450c8ef9adfecc6d31b2c6b0d74a02542d5b..4bf30b86da3aad53498e27c2b7ae72a01744d5c0 100644
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -119,7 +119,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake
index 82001a3423fb7f78290a8d577ff0f9b76e829243..1044590806833a566127f455c75524ee7a9eaf6e 100644
--- a/boards/px4/fmu-v3/stackcheck.cmake
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -118,7 +118,6 @@ px4_add_board(
#hello
#hwtest # Hardware test
#matlab_csv_serial
- #publisher
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
#rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
index b32ec85d44252eaeeaa6946ae02fea6c8e7c648b..2c7a18656d744f8ebce903c372b947dbcec6a8bb 100644
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -103,7 +103,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake
index da809d172144555df9e52ae18af9c02815e6e912..8fde9b97ad2a456b40caf2ca031d99671933a12b 100644
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -105,7 +105,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
index 7016685457dbfeec5a54ef7301cad1b4f43236fe..c72f4f687eb7f0bcbe80922311abdba36596e5c8 100644
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -103,7 +103,6 @@ px4_add_board(
#hello
#hwtest # Hardware test
#matlab_csv_serial
- #publisher
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
#rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
index 95ba864caa87614fbc4879dbb8c080ca83ce68b9..6f5ddb9b573d081f63bb0a0a098d1bc6c654652b 100644
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -117,7 +117,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake
index 821d39a0e97ab6778188ac851fcb638930a72eba..33ff1283e6f600418cca67a722f7423bcb1384cc 100644
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -118,7 +118,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
index 3d0916f88cd620590efd37957bef9d706be2191a..c09f373e0bbc3d13c4bb19d826e2a2b981e1ffac 100644
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -117,7 +117,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake
index ebe2e879f78543940de676d5484ca90cc2088cca..aee8fd655a7ec46a0bccf0f7298dbbaa64c83f42 100644
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -119,7 +119,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake
index 7362d57d2dc5ae499e9576dc7e52405c65a10b47..0b2e597d0e4931334263d21db23745d0122227b6 100644
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -118,7 +118,6 @@ px4_add_board(
#hello
#hwtest # Hardware test
#matlab_csv_serial
- #publisher
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
#rover_steering_control # Rover example app
diff --git a/boards/stm/32f4discovery/default.cmake b/boards/stm/32f4discovery/default.cmake
index 46c950680c8d7fa96cb4d0792e4ffd0ffa8a15f0..95b4aff0dce1374d8da0a5f78f7467f713619ad8 100644
--- a/boards/stm/32f4discovery/default.cmake
+++ b/boards/stm/32f4discovery/default.cmake
@@ -95,7 +95,6 @@ px4_add_board(
hello
#hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/boards/stm/nucleo-F767ZI/default.cmake b/boards/stm/nucleo-F767ZI/default.cmake
index 19bff3c7fd0ed32dddeb14c58ca08dbc151a425f..9a4193cfd0c24c3ae4470e571ef5c0159a10bb6a 100644
--- a/boards/stm/nucleo-F767ZI/default.cmake
+++ b/boards/stm/nucleo-F767ZI/default.cmake
@@ -104,7 +104,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
- #publisher
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
diff --git a/src/examples/publisher/CMakeLists.txt b/src/examples/publisher/CMakeLists.txt
deleted file mode 100644
index 24c9222a3c3559958c1ec949073e65d2b50b6347..0000000000000000000000000000000000000000
--- a/src/examples/publisher/CMakeLists.txt
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in
-# the documentation and/or other materials provided with the
-# distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-# used to endorse or promote products derived from this software
-# without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
- MODULE examples__publisher
- MAIN publisher
- STACK_MAIN 1200
- SRCS
- publisher_main.cpp
- publisher_start_nuttx.cpp
- publisher_example.cpp
- DEPENDS
- )
diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp
deleted file mode 100644
index a39f0ecd25cd86db1c087c512bd165debe725eb6..0000000000000000000000000000000000000000
--- a/src/examples/publisher/publisher_example.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-
-/****************************************************************************
- *
- * Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file publisher_example.cpp
- * Example subscriber for ros and px4
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-
-#include "publisher_example.h"
-
-using namespace px4;
-
-PublisherExample::PublisherExample() :
- _n(appState),
- _rc_channels_pub(_n.advertise<px4_rc_channels>()),
- _v_att_pub(_n.advertise<px4_vehicle_attitude>()),
- _parameter_update_pub(_n.advertise<px4_parameter_update>())
-{
-}
-
-px4::AppState PublisherExample::appState;
-
-int PublisherExample::main()
-{
- px4::Rate loop_rate(10);
-
- while (!appState.exitRequested()) {
- loop_rate.sleep();
- _n.spinOnce();
-
- /* Publish example message */
- px4_rc_channels rc_channels_msg;
- rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
- PX4_INFO("rc: %" PRIu64, rc_channels_msg.data().timestamp_last_valid);
- _rc_channels_pub->publish(rc_channels_msg);
-
- /* Publish example message */
- px4_vehicle_attitude v_att_msg;
- v_att_msg.data().timestamp = px4::get_time_micros();
- PX4_INFO("att: %" PRIu64, v_att_msg.data().timestamp);
- _v_att_pub->publish(v_att_msg);
-
- /* Publish example message */
- px4_parameter_update parameter_update_msg;
- parameter_update_msg.data().timestamp = px4::get_time_micros();
- PX4_INFO("param update: %" PRIu64, parameter_update_msg.data().timestamp);
- _parameter_update_pub->publish(parameter_update_msg);
-
- }
-
- return 0;
-}
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
deleted file mode 100644
index 6281d39e351bc8e773f06a39349a3abbc8855c4c..0000000000000000000000000000000000000000
--- a/src/examples/publisher/publisher_example.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file publisher.h
- * Example publisher for ros and px4
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-#pragma once
-#include <px4.h>
-#include <px4_app.h>
-
-class PublisherExample
-{
-public:
- PublisherExample();
-
- ~PublisherExample() {}
-
- int main();
-
- static px4::AppState appState;
-protected:
- px4::NodeHandle _n;
- px4::Publisher<px4::px4_rc_channels> *_rc_channels_pub;
- px4::Publisher<px4::px4_vehicle_attitude> *_v_att_pub;
- px4::Publisher<px4::px4_parameter_update> *_parameter_update_pub;
-};
diff --git a/src/examples/publisher/publisher_main.cpp b/src/examples/publisher/publisher_main.cpp
deleted file mode 100644
index 11439acffcb7e1bd0b4d2f282bd25d911503f494..0000000000000000000000000000000000000000
--- a/src/examples/publisher/publisher_main.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file publisher_main.cpp
- * Example publisher for ros and px4
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-#include "publisher_example.h"
-
-bool thread_running = false; /**< Deamon status flag */
-
-int main(int argc, char **argv)
-{
- px4::init(argc, argv, "publisher");
-
- PX4_INFO("starting");
- PublisherExample p;
- thread_running = true;
- p.main();
-
- PX4_INFO("exiting.");
- thread_running = false;
- return 0;
-}
diff --git a/src/examples/publisher/publisher_start_nuttx.cpp b/src/examples/publisher/publisher_start_nuttx.cpp
deleted file mode 100644
index 6a58ad242030de9447f295043cc4351f1d5bcbbf..0000000000000000000000000000000000000000
--- a/src/examples/publisher/publisher_start_nuttx.cpp
+++ /dev/null
@@ -1,98 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file publisher_start_nuttx.cpp
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-#include <string.h>
-#include <cstdlib>
-#include <systemlib/err.h>
-
-extern bool thread_running;
-int daemon_task; /**< Handle of deamon task / thread */
-namespace px4
-{
-bool task_should_exit = false;
-}
-using namespace px4;
-
-extern int main(int argc, char **argv);
-
-extern "C" __EXPORT int publisher_main(int argc, char *argv[]);
-int publisher_main(int argc, char *argv[])
-{
- if (argc < 2) {
- errx(1, "usage: publisher {start|stop|status}");
- }
-
- if (!strcmp(argv[1], "start")) {
-
- if (thread_running) {
- warnx("already running");
- /* this is not an error */
- exit(0);
- }
-
- task_should_exit = false;
-
- daemon_task = px4_task_spawn_cmd("publisher",
- SCHED_DEFAULT,
- SCHED_PRIORITY_MAX - 5,
- 2000,
- main,
- (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
-
- exit(0);
- }
-
- if (!strcmp(argv[1], "stop")) {
- task_should_exit = true;
- exit(0);
- }
-
- if (!strcmp(argv[1], "status")) {
- if (thread_running) {
- warnx("is running");
-
- } else {
- warnx("not started");
- }
-
- exit(0);
- }
-
- warnx("unrecognized command");
- return 1;
-}