Differences

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--- getting_started:ros_example [2024/11/15 10:43] – [Working with ROS2] ursgraf
+++ getting_started:ros_example [2026/01/27 10:23] (current) – [Building] ursgraf
@@ Line 26: / 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>
@@ Line 37: / Line 36: @@
   ...
   ControlSystem cs(node, dt);
+  ...
+  signal(SIGINT, signalHandler);
   ...
 </code>
 When defining a control system which uses ROS subscriber or publisher blocks, you have to pass this node to them.
+All ROS tools such as ''rqt'' will list your EEROS application under the name ''eerosNode''. The variable ''node'' has to be passed to all blocks in the control system which publish or subscribe to ROS messages. \\
-All ROS tools such as ''rqt'' will list your EEROS application under the name ''eerosNode''. The variable ''node'' has to be passed to all blocks in the control system which publish or subscribe to ROS messages.\\
 If you want to register a signal handler, e.g. for shutting down a system (see [[getting_started:practical_problems:abort|]]), you have to register it after the ROS node is initialized.
 The ROS node will properly shut down as soon as the last node handler is destroyed when going out of scope.
+==== Building and Running ====
+Before building you need to run the ''setup.bash'' script of ROS and the ''local_setup.bash'' which is located in the EEROS installation directory under ''share/eeros_msgs''.
+<code>
+source /path_to_ros_installation/setup.bash
+source /path_to_eeros_installation/share/eeros_msgs/local_setup.bash
+</code>
+Make sure to run these scripts also before running the application.