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--- eeros_architecture:control_system:available_blocks:ros2subanalogsignal [2025/03/18 13:53] – ursgraf
+++ eeros_architecture:control_system:available_blocks:ros2subanalogsignal [2025/03/18 13:58] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== ROS2 Subscriber Analog Signal ======
-This block reads an EEROS signal of type double and publishes it as a ROS message of type ''eeros_msgs::msg::AnalogSignal''. Each time the block is run by its time domain, the message is sent.
+This block receives ROS messages of type ''eeros_msgs::msg::AnalogSignal''. Each time the block is run by its time domain, the content of the last message is written to the signal output of the block.
 <code cpp>
-  RosPublisherAnalogSignal subDouble(node, "myNode/myTopic"); // create subscriber block
+  RosSubscriberAnalogSignal<> sub(node, "myNode/myTopic"); // create subscriber block
 </code>
-IMPORTANT The message is transmitted without time stamp. The time stamp of the signal is set to the actual time when running the block.
+IMPORTANT The time stamp of the signal is set to the time stamp of the message.
+Alternatively, you could receive a vector by instantiating a block with
+<code cpp>
+  RosSubscriberAnalogSignal<Vector3> sub(node, "myTopic"); // create subscriber block
+</code>