getting_started:ros
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getting_started:ros [2017/11/20 16:18] – graf | getting_started:ros [2017/11/20 16:43] – [Using ROS through EEROS HAL] graf | ||
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===== Using Publisher and Subscriber Blocks in the Control System ===== | ===== Using Publisher and Subscriber Blocks in the Control System ===== | ||
+ | You can insert blocks into the control system which publish or subscribe a given type of ROS message. | ||
[{{ : | [{{ : | ||
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- | {{: | ||
Special blocks in EEROS take care of sending signals to and receiving signals from ROS. These signals must be packed into ROS messages. Each topic transmits messages of a certain type. Depending on the message type you have to use certain blocks in your control system, see [[eeros_architecture: | Special blocks in EEROS take care of sending signals to and receiving signals from ROS. These signals must be packed into ROS messages. Each topic transmits messages of a certain type. Depending on the message type you have to use certain blocks in your control system, see [[eeros_architecture: | ||
- | When using | + | |
+ | ===== Using ROS through EEROS HAL ===== | ||
+ | EEROS can communicate with the underlying hardware through its [[eeros_architecture: | ||
+ | [{{ : | ||
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+ | The EEROS HAL signals can be comprised of digital or analog inputs or outputs. They are specified in a JSON file. \\ | ||
+ | If you want to test your application with a [[http:// | ||
+ | To use your application with hardware, you can, for example, use the wrapper library \textit{comedi-eeros} or \textit{flink-eeros}. | ||
+ | If you adapt the *.json file correctly, your application should now run on hardware with real encoders and motors without any problems. | ||
+ | It is also possible to use ROS-topics alongside real hardware. | ||
+ | You can use \textit{comedi-eeros} to read an encoder and set a control value for a motor. | ||
+ | At the same time, you can publish the same values to ROS topics to visualize the state of the robot with \textit{rviz} (if you have a model of your robot) or you can monitor the values with a ROS tool like '' | ||
+ | With \textit{Multiplot} you can also store the values in a text file. | ||
===== Preparations and Building ===== | ===== Preparations and Building ===== |
getting_started/ros.txt · Last modified: 2023/02/09 12:04 by ursgraf