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--- getting_started:ros_example [2024/11/07 14:06] – [Working with ROS2] ursgraf
+++ getting_started:ros_example [2024/12/10 08:17] (current) – [Working with ROS2] ursgraf
@@ Line 4: / Line 4: @@
 ===== Working with ROS1 =====
-The CMake file for the EEROS application using ROS1 has to be expanded as follows:
-<code>
-cmake_minimum_required(VERSION 3.10)
-project(testProject)
-set(CMAKE_CXX_STANDARD 14)
-## ROS
-message(STATUS "looking for package 'ROS'")
-find_package( roslib REQUIRED )
-if (roslib_FOUND)
-  message( STATUS "-> ROS found")
-  add_definitions(-DROS_FOUND)
-  include_directories( "${roslib_INCLUDE_DIRS}" )
-  message( STATUS "roslib_INCLUDE_DIRS: " ${roslib_INCLUDE_DIRS} )
-  list(APPEND ROS_LIBRARIES "${roslib_LIBRARIES}")
-  find_package( rosconsole REQUIRED)
-  list(APPEND ROS_LIBRARIES "${rosconsole_LIBRARIES}")
-  find_package( roscpp REQUIRED )
-  list(APPEND ROS_LIBRARIES "${roscpp_LIBRARIES}")
-  add_definitions(-DUSE_ROS)
-else()
-  message( STATUS "-> ROS NOT found")
-endif()
-find_package(EEROS REQUIRED)
-add_executable(testProject main.cpp)
-target_link_libraries(testProject PRIVATE EEROS::eeros ${ROS_LIBRARIES})
-</code>
 Your test program might look like
 <code cpp>
@@ Line 57: / Line 26: @@
 Your test program might look like
 <code cpp>
-#include <eeros/control/ros2/EerosRosTools.hpp>
+#include <eeros/control/ros2/RosTools.hpp>
-#include <rclcpp/rclcpp.hpp>
 #include <signal.h>
 int main(int argc, char **argv) {
   ...
-  auto node = eeros::control::rosTools::initNode("eerosNode"); // initialize the ROS node in your main function and give it a name.
+  RosTools::initRos(argc, argv);
+  auto node = RosTools::initNode("eerosNode");
   if (node != nullptr) log.info() << "ROS node initialized: " << node->get_name();
-  signal(SIGINT, ...);
   ...
   ControlSystem cs(node, dt);