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--- getting_started:ros [2021/03/29 15:56] – [Interfacing with ROS] ursgraf
+++ getting_started:ros [2025/03/18 10:42] (current) – [EEROS Messages] ursgraf
@@ Line 1: / Line 1: @@
 ====== Interfacing with ROS ======
-[[http://www.ros.org/|ROS]] is a flexible framework for writing robot software. It is great collection of tools, libraries, and conventions.
+[[http://www.ros.org/|ROS]] is a flexible framework for writing robot software. It is great collection of tools, libraries, and conventions. EEROS supports the use of ROS1 or ROS2.
   * [[getting_started:ros_prep|]]
+  * [[getting_started:ros_timing|]]
   * [[getting_started:ros_example|]]
   * [[getting_started:ros_run|]]
 You can make use of ROS within EEROS in the following two ways.
+===== EEROS Messages =====
+EEROS defines its own ROS message types. They correspond to EEROS [[eeros_architecture:control_system:signals|]]
+  * Analog Signal → **eeros_msgs::msg::AnalogSignal**
+    - timestamp
+    - array of float64 values
+  * Digital Signal → **eeros_msgs::msg::DigitalSignal**
+    - timestamp
+    - array of boole values
+These messages are fetched and built when building EEROS with ROS supprt and will be installed into the same directory as EEROS itself.
 ===== Using Publisher and Subscriber Blocks in the Control System =====
@@ Line 23: / Line 34: @@
-===== Running your Application =====
-An EEROS application using ROS needs to be started with super user privileges. Further,
-ROS needs some system variables, like ''ROS_MASTER_URI'', which are defined by the ''setup.bash'' script of ROS.
-To forward these variables to the super user process, the option //-E// has to be used.
-<code>
-$ sudo -E ./application
-</code>