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--- eeros_architecture:control_system:available_blocks:rospublaserscan [2017/11/01 22:55] – graf
+++ eeros_architecture:control_system:available_blocks:rospublaserscan [2023/02/09 12:01] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== ROS Publisher Laser Scan ======
 This block samples the sensor signal of a laser scanner at its inputs and packs it into a ROS message of type ''sensor_msgs::LaserScan''. Each time the block is run by its time domain, this message is published under a given topic name.
 <code cpp>
-  // define a handler for ROS nodes
+// create publisher block, lasers canner range has a size of 150 values
-  ros::NodeHandle rosNodeHandler;
+RosPublisherLaserScan<Matrix<150, 1, double>, Matrix<150, 1, double >> laserScan("myTopic", "laser", 100);
-  // create publisher block, laserscanner range has a size of 150 values
+</code>
-  RosPublisherLaserScan<Matrix<150, 1, double>, Matrix<150, 1, double >> laserScan(rosNodeHandler, "myNode/myTopic", 100);
+For ROS2 you have to pass the node, from where the topic is sent. The ROS2 message is of type std_msgs::msg::LaserScan.
+<code cpp>
+// create publisher block, lasers canner range has a size of 150 values
+RosPublisherLaserScan<Matrix<150, 1, double>, Matrix<150, 1, double >> laserScan(node, "myTopic", "laser", 100);
 </code>
-The template parameter of the block determines the size of the range and intensity vectors.
+The template parameter of the block determines the size of the range and intensity vectors. The time stamp of the signal is transmitted in the message header.