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--- eeros_architecture:control_system:available_blocks:rossublaserscan [2017/11/01 22:58] – created graf
+++ eeros_architecture:control_system:available_blocks:rossublaserscan [2023/02/27 16:53] (current) – ursgraf
@@ Line 1: / Line 1: @@
-====== ROS Subcriber Laser Scan ======
+====== ROS Subscriber Laser Scan ======
 This block receives a ROS message of type ''sensor_msgs::LaserScan''. Each time the block is run by its time domain, the last message received is driven on its output signals.
 <code cpp>
-  // define a handler for ROS nodes
+  // create subscriber block, laserscanner range has a size of 150 values
-  ros::NodeHandle rosNodeHandler;
+  RosSubscriberLaserScan<Matrix<150, 1, double>, Matrix<150, 1, double >> laserScan("myNode/myTopic", 100, false);
-  // create subcriber block, laserscanner range has a size of 150 values
-  RosSubscriberLaserScan<Matrix<150, 1, double>, Matrix<150, 1, double >> laserScan(rosNodeHandler, "myNode/myTopic", 100, false);
 </code>
 The template parameter of the block determines the size of the range and intensity vectors.
+For ROS2 you have to pass the node, from where the topic is received. The ROS2 message is of type ''std_msgs::msg::LaserScan''.
+<code cpp>
+  RosSubscriberLaserScan<Matrix<150, 1, double>, Matrix<150, 1, double >> laserScan(node, "myNode/myTopic", 100, false);
+</code>