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--- getting_started:ros [2017/11/20 16:43] – [Using ROS through EEROS HAL] graf
+++ getting_started:ros [2017/11/20 17:28] – [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 ).
-[{{ :getting_started:roshal.png?400 |//Connect with ROS topics through the HAL//}}]
+[{{ :getting_started:roshal.png?350 |//Connect with ROS topics through the HAL//}}]
 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.
+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|]], for example, use the wrapper library \textit{comedi-eeros} or \textit{flink-eeros}.
-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.