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diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp
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-/*
- * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *   * Redistributions of source code must retain the above copyright notice,
- *     this list of conditions and the following disclaimer.
- *   * 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.
- *   * Neither the names of Stanford University or Willow Garage, Inc. 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.
- */
-
-#include <px4.h>
-
-using namespace px4;
-
-/**
- * This tutorial demonstrates simple sending of messages over the PX4 middleware system.
- */
-
-namespace px4
-{
-bool task_should_exit = false;
-}
-
-PX4_MAIN_FUNCTION(publisher)
-{
-
-	px4::init(argc, argv, "px4_publisher");
-
-	px4::NodeHandle n;
-
-	/**
-	 * The advertise() function is how you tell ROS that you want to
-	 * publish on a given topic name. This invokes a call to the ROS
-	 * master node, which keeps a registry of who is publishing and who
-	 * is subscribing. After this advertise() call is made, the master
-	 * node will notify anyone who is trying to subscribe to this topic name,
-	 * and they will in turn negotiate a peer-to-peer connection with this
-	 * node.  advertise() returns a Publisher object which allows you to
-	 * publish messages on that topic through a call to publish().  Once
-	 * all copies of the returned Publisher object are destroyed, the topic
-	 * will be automatically unadvertised.
-	 *
-	 * The second parameter to advertise() is the size of the message queue
-	 * used for publishing messages.  If messages are published more quickly
-	 * than we can send them, the number here specifies how many messages to
-	 * buffer up before throwing some away.
-	 */
-	px4::Publisher * rc_channels_pub = PX4_ADVERTISE(n, rc_channels);
-
-
-	px4::Rate loop_rate(10);
-
-	/**
-	 * A count of how many messages we have sent. This is used to create
-	 * a unique string for each message.
-	 */
-	int count = 0;
-
-	while (px4::ok()) {
-		/**
-		 * This is a message object. You stuff it with data, and then publish it.
-		 */
-		PX4_TOPIC_T(rc_channels) msg;
-
-		msg.timestamp_last_valid = px4::get_time_micros();
-		PX4_INFO("%llu", msg.timestamp_last_valid);
-
-		/**
-		 * The publish() function is how you send messages. The parameter
-		 * is the message object. The type of this object must agree with the type
-		 * given as a template parameter to the advertise<>() call, as was done
-		 * in the constructor above.
-		 */
-		rc_channels_pub->publish(msg);
-
-		n.spinOnce();
-
-		loop_rate.sleep();
-		++count;
-	}
-
-	return 0;
-}