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--- getting_started:ros [2017/11/20 16:36] – [Using Publisher and Subscriber Blocks in the Control System] graf
+++ getting_started:ros [2017/11/30 19:53] – [Using ROS through EEROS HAL] graf
@@ Line 8: / Line 8: @@
 ===== Using ROS through EEROS HAL =====
-EEROS can communicate with the underlying hardware through its [[eeros_architecture:hal:start|]]. When using this, you need a wrapper library (see ).
+EEROS can communicate with the underlying hardware through its [[eeros_architecture:hal:start|]]. When using this, you need a special wrapper library (see [[eeros_architecture:hal:hardware_libraries|]]).
-[{{ :getting_started:roshal.png?400 |//Connect with ROS topics through the HAL}}]
+[{{ :getting_started:roshal.png?350 |//Connect with ROS topics through the HAL//}}]
-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://gazebosim.org/|Gazebo]] simulation, you can define your inputs and outputs as ROS topics to connect your application with the simulation. For this no hardware is necessary. To use your application with hardware, you can use any of the available [[eeros_architecture:hal:hardware_libraries|]]. By choosing the proper JSON file, you can easily switch between real hardware and simulation. \\
+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://wiki.ros.org/rviz|rviz]] (if you have a model of your robot) or you could monitor the values with a ROS tool like [[http://wiki.ros.org/rqt|rqt]].
 ===== Preparations and Building =====