getting_started:ros
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getting_started:ros [2017/11/20 16:43] – [Using ROS through EEROS HAL] graf | getting_started:ros [2017/11/20 17:50] – [Using ROS through EEROS HAL] graf | ||
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===== Using ROS through EEROS HAL ===== | ===== Using ROS through EEROS HAL ===== | ||
- | EEROS can communicate with the underlying hardware through its [[eeros_architecture: | + | EEROS can communicate with the underlying hardware through its [[eeros_architecture: |
- | [{{ : | + | [{{ : |
The EEROS HAL signals can be comprised of digital or analog inputs or outputs. They are specified in a JSON file. \\ | 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:// | + | If you want to test your application with a [[http:// |
- | To use your application with hardware, you can, for example, | + | It is also possible to use ROS-topics alongside real hardware. You could determine a motor position by reading |
- | If you adapt the *.json | + | |
- | 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