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--- eeros_architecture:control_system:available_blocks:rospubsafetylevel [2019/01/17 11:31] – graf
+++ eeros_architecture:control_system:available_blocks:rospubsafetylevel [2023/02/09 12:02] (current) – ursgraf
@@ Line 2: / Line 2: @@
 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>
-  RosPublisherSafetyLevel pubSL("myNode/myTopic"); // create publisher block
+  RosPublisherSafetyLevel pubSL("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::UInt32.
+<code cpp>
+  RosPublisherSafetyLevel pubSL(node, "myTopic"); // create publisher block
 </code>