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--- getting_started:ros [2019/10/05 16:06] – [Preparations and Building] graf
+++ getting_started:ros [2021/03/29 15:27] – ursgraf
@@ Line 32: / Line 32: @@
-=== Building an EEROS application with ROS functionality ===
+===== Example for Making your EEROS Application a ROS Node =====
 The CMAKE file for the EEROS application using ROS has to be expanded as follows:
 <code>
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5.1)
 project(testProject)
+set(CMAKE_CXX_STANDARD 14)
 ## ROS
 message(STATUS "looking for package 'ROS'")
@@ Line 59: / Line 61: @@
 include_directories(${EEROS_INCLUDE_DIR};${EEROS_LIBUCL_INCLUDE_DIR})
 link_directories(${EEROS_LIB_DIR};${EEROS_LIBUCL_LINK_DIR})
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 add_executable(testProject main.cpp)
@@ Line 66: / Line 66: @@
 </code>
-===== Make your EEROS Application a ROS Node =====
+Your test program might look like
-Initialize the ROS node in your main function and give it a name.
 <code cpp>
-  #include <ros/ros.h>
+#include <ros/ros.h>
-  int main(int argc, char **argv) {
+int main(int argc, char **argv) {
-	...
+  ...
-	rosTools::initNode("rosTest");
+  rosTools::initNode("eeros node"); // initialize the ROS node in your main function and give it a name.
+        ros::NodeHandle handle;
 	log.trace() << "ROS node initialized.";
 	...