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getting_started:tutorials:hal4

Using the HAL with ROS

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 examples/ros/rosTest2.
This example runs your EEROS application as a ROS node under the name rosTest1. It publishes two topics

  • /test1/vector (of type Matrix<7,1,double>)
  • /test1/val (of type double)

Use the ROS tool rqt to list your nodes and topics. Open another shell to show the messages sent by EEROS, e.g.

$ rostopic echo /test1/vector

Open another shell in the build directory of your EEROS library and run rosNodeTalker. This starts a ROS node which publishes a couple of test topics. As soon as rosNodeTalker runs your example application will receive the two topics

  • /rosNodeTalker/vector (of type Matrix<2,1,double>)
  • /rosNodeTalker/val (of type double)

and logs its transported message values into the console.

getting_started/tutorials/hal4.txt · Last modified: 2018/01/18 16:03 (external edit)