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--- eeros_architecture:control_system:available_blocks:rospubdoublearray [2017/11/01 22:42] – created graf
+++ eeros_architecture:control_system:available_blocks:rospubdoublearray [2023/02/09 11:59] (current) – ursgraf
@@ Line 2: / Line 2: @@
 This block samples the vector signal at its input and packs it into a ROS message of type ''std_msgs::Float64MultiArray''. Each time the block is run by its time domain, this message is published under a given topic name.
 <code cpp>
-  ros::NodeHandle rosNodeHandler;                                     // define a handler for ROS nodes
+  RosPublisherDoubleArray pubArray("myTopic", 100); // create publisher block
-  RosPublisherDoubleArray pubArray(rosNodeHandler, "myNode/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::Float64MultiArray''.
+<code cpp>
+  RosPublisherDoubleArray pubArray(node, "myTopic", 100); // create publisher block
 </code>
+This block can be connected to any signal whose value is of type ''Matrix<N, 1, double>''. \\
+IMPORTANT The time stamp of the signal is not transmitted.