getting_started:ros
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getting_started:ros [2017/11/20 16:21] – [Using Publisher and Subscriber Blocks in the Control System] graf | getting_started:ros [2019/06/11 11:51] – [Preparations and Building] graf | ||
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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: | ||
- | ===== Using Publisher and Subscriber Blocks in the Control System | + | ===== Using ROS through EEROS HAL ===== |
- | [{{ : | + | EEROS can communicate with the underlying hardware through its [[eeros_architecture: |
+ | [{{ : | ||
- | When using | + | 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:// | ||
+ | It is also possible to use ROS-topics alongside real hardware. You could determine a motor position by reading an encoder and set a control value for a motor. In parallel, you could publish the same values to ROS topics to visualize the state of the robot with [[http:// | ||
===== Preparations and Building ===== | ===== Preparations and Building ===== | ||
ROS needs to be installed on the developer machine as well as on the target machine. | ROS needs to be installed on the developer machine as well as on the target machine. | ||
- | Before a ROS application can be started, you need to run the '' | + | Before a ROS application can be started, you need to run the '' |
+ | < | ||
+ | source / | ||
+ | </ | ||
The same applies for building the EEROS library with ROS support and for building an EEROS application with ROS support. \\ | The same applies for building the EEROS library with ROS support and for building an EEROS application with ROS support. \\ | ||
IMPORTANT If an integrated development environment such as '' | IMPORTANT If an integrated development environment such as '' | ||
+ | |||
+ | === Building the EEROS library with ROS === | ||
+ | If you build the library with cmake, make sure you use the -DUSE_ROS=TRUE switch. | ||
+ | An example of a cmake call could look like this:\\ | ||
+ | '' | ||
+ | |||
+ | |||
+ | === Building an EEROS application with ROS functionality === | ||
The CMAKE file for the EEROS application using ROS has to be expanded as follows: | The CMAKE file for the EEROS application using ROS has to be expanded as follows: |
getting_started/ros.txt · Last modified: 2023/02/09 12:04 by ursgraf