Differences

This shows you the differences between two versions of the page.

--- eeros_architecture:control_system:available_blocks:rospubsafetylevel [2019/01/17 11:28] – created graf
+++ eeros_architecture:control_system:available_blocks:rospubsafetylevel [2023/02/09 12:02] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== ROS Publisher Safety Level ======
-This block outputssamples 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.
+This block reads the safety level id and packs it into a ROS message of type ''std_msgs::UInt32''. Each time the block is run by its time domain, this message is published under a given topic name.
 <code cpp>
-  // create publisher block, laserscanner range has a size of 150 values
+  RosPublisherSafetyLevel pubSL("myTopic"); // create publisher block
-  RosPublisherLaserScan<Matrix<150, 1, double>, Matrix<150, 1, double >> laserScan("myNode/myTopic", 100);
+</code>
+For ROS2 you have to pass the node, from where the topic is sent. The ROS2 message is of type std_msgs::msg::UInt32.
+<code cpp>
+  RosPublisherSafetyLevel pubSL(node, "myTopic"); // create publisher block
 </code>
-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.
+This block must have a reference to the safety system in order to read the actual safety level. Please set the reference by calling: \\
+<code cpp>
+  controlSystem.pubSL.setSafetySystem(safetySystem);
+</code>