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--- eeros_architecture:control_system:available_blocks:rospubdouble [2017/11/05 20:17] – graf
+++ eeros_architecture:control_system:available_blocks:rospubdouble [2023/02/09 11:58] (current) – ursgraf
@@ Line 2: / Line 2: @@
 This block samples the signal at its input and packs it into a ROS message of type ''std_msgs::Float64''. Each time the block is run by its time domain, this message is published under a given topic name.
 <code cpp>
-  RosPublisherDouble pubDouble("myNode/myTopic"); // create publisher block
+  RosPublisherDouble pubDouble("myTopic"); // create publisher block
+</code>
+For ROS2 you have to pass the node, from where the topic is sent. The ROS2 message is of type ''std_msgs::msg::Float64''.
+<code cpp>
+  RosPublisherDouble pubDouble(node, "myTopic"); // create publisher block
 </code>
 This block can be connected to any signal whose value has type ''double''. \\
 IMPORTANT The time stamp of the signal is not transmitted.