Differences

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--- getting_started:ros [2021/03/29 15:56] – [Running your Application] ursgraf
+++ getting_started:ros [2024/12/10 08:03] (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
+    - timestamp
+    - array of float64 values
+  * Digital Signal
+    - 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 =====