In the EEROS library you will find a directory with examples. Open a shell and run
roscore. Open another shell in the build directory of your EEROS library and run
sudo -E examples/ros/rosTest1. This example will only be present in your build directory if ROS was installed before building EEROS with
-DUSE_ROS=TRUE set, see Preparations and Building.
This example runs your EEROS application as a ROS node under the name /eerosNode. It publishes three topics
$ rosnode list
you will see the new node. With
$ rostopic list
will list the two topics which are published be our node, /test/val, /test/vector, and /test/safetyLevel. Open another shell to show the messages sent by EEROS, e.g.
$ rostopic echo /test/vector
$ rostopic hz /test/val
you can easily check how often data is sent from out ROS node. Try to plot the data with
$ rqt_plot /test/val /test1/vector/data /test/vector/data /test/safetyLevel
Open another shell in the build directory of your EEROS library and run
rosNodeTalker. This is not a EEROS program but simply starts a ROS node which publishes a couple of test topics. As soon as
rosNodeTalker runs, your example application will receive the two topics
and logs its transported message values into the console. Use
to show a graph with all involved nodes together with their topics.