Differences

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--- eeros_architecture:control_system:available_blocks [2024/06/10 17:06] – [Available Blocks] ursgraf
+++ eeros_architecture:control_system:available_blocks [2025/03/18 13:49] (current) – [Blocks for Interfacing with ROS2] ursgraf
@@ Line 42: / Line 42: @@
 | [[.:available_blocks:ma_filter]]           |  1     |  1      |  RED             |
-===== Blocks for Interfacing with ROS =====
+===== Blocks for Interfacing with ROS1 =====
 [[http://www.ros.org/|ROS]] is a flexible framework for writing robot software. It is great collection of tools, libraries, and conventions. Special blocks in EEROS take care of sending signals to and receiving signals from ROS.
@@ Line 54: / Line 54: @@
 | [[.:available_blocks:rossublaserscan]]    |  0     |  1      |  RED             |
+===== Blocks for Interfacing with ROS2 =====
+[[http://www.ros.org/|ROS]] is a flexible framework for writing robot software. It is great collection of tools, libraries, and conventions. Special blocks in EEROS take care of sending signals to and receiving signals from ROS.
+^ Name                                        ^ Inputs ^ Outputs ^ clock-dependent? |
+| [[.:available_blocks:ros2pubanalogsignal]]   |  1     |  0      |  RED             |
+| [[.:available_blocks:ros2pubdigitalsignal]]  |  1     |  0      |  RED             |
+| [[.:available_blocks:ros2pubsafetylevel]]    |  1     |  0      |  RED             |
+| [[.:available_blocks:ros2pubodometry]]       |  4     |  0      |  RED             |
+| [[.:available_blocks:ros2subanalogsignal]]   |  0     |  1      |  RED             |
+| [[.:available_blocks:ros2subdigitalsignal]]  |  0     |  1      |  RED             |
+| [[.:available_blocks:ros2subtwist]]          |  0     |  2      |  RED             |
 ===== Blocks for Interfacing with CAN =====
 Special blocks in EEROS take care of sending signals to and receiving signals from a CAN bus.