Add minimal rclpy timer example demonstrating create_timer() usage

rclpy/timers/minimal_timer/README.md

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+# Minimal Timer Example
+
+This example demonstrates how to create a simple timer node in ROS 2 using rclpy.
+
+## Overview
+
+ROS 2 timers allow nodes to execute a callback function periodically.
+They are commonly used for tasks such as monitoring loops, periodic updates,
+or scheduled processing.
+
+This example creates a node that executes a callback every second using
+`create_timer()`.
+
+## Running the Example
+
+Run the node with:
+
+```bash
+python3 minimal_timer.py
+
+```
+
+You should see log messages printed once per second.
+
+## Example output
+
+Timer callback triggered
+Timer callback triggered
+Timer callback triggered
+
+## Key Concept
+
+`create_timer()` schedules a callback to be executed periodically.

rclpy/timers/minimal_timer/minimal_timer.py

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+import rclpy
+from rclpy.node import Node
+
+
+class MinimalTimer(Node):
+
+    def __init__(self):
+        super().__init__('minimal_timer')
+
+        timer_period = 1.0
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+
+    def timer_callback(self):
+        self.get_logger().info('Timer callback triggered')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_timer = MinimalTimer()
+
+    rclpy.spin(minimal_timer)
+
+    minimal_timer.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

rclpy/topics/examples_rclpy_minimal_timer/examples_rclpy_minimal_timer/minimal_timer.py

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+import rclpy
+from rclpy.node import Node
+
+
+class MinimalTimer(Node):
+
+    def __init__(self):
+        super().__init__('minimal_timer')
+
+        timer_period = 1.0
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+
+    def timer_callback(self):
+        self.get_logger().info('Timer callback triggered')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_timer = MinimalTimer()
+
+    rclpy.spin(minimal_timer)
+
+    minimal_timer.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

rclpy/topics/examples_rclpy_minimal_timer/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>examples_rclpy_minimal_timer</name>
+  <version>0.0.0</version>
+  <description>Minimal rclpy timer example demonstrating create_timer usage.</description>
+
+  <maintainer email="yadnyeshwarasa@gmail.com">Yadnyeshwar Sakhare</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <exec_depend>rclpy</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+</package>

rclpy/topics/examples_rclpy_minimal_timer/setup.py

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+from setuptools import setup
+
+package_name = 'examples_rclpy_minimal_timer'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Yadnyeshwar Sakhare',
+    maintainer_email='yadnyeshwarasa@gmail.com',
+    description='Minimal rclpy timer example demonstrating create_timer() usage.',
+    license='Apache License 2.0',
+    entry_points={
+        'console_scripts': [
+            'minimal_timer = examples_rclpy_minimal_timer.minimal_timer:main',
+        ],
+    },
+)