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getting_started:ros_example

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getting_started:ros_example [2023/02/27 16:34] – [Working with ROS2] ursgrafgetting_started:ros_example [2023/02/27 16:46] (current) – [Working with ROS2] ursgraf
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   if (node != nullptr) log.info() << "ROS node initialized: " << node->get_name();   if (node != nullptr) log.info() << "ROS node initialized: " << node->get_name();
   signal(SIGINT, ...);   signal(SIGINT, ...);
 +  ...
 +  ControlSystem cs(node, dt);
   ...   ...
 </code> </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. 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. The ROS node will properly shut down as soon as the last node handler is destroyed when going out of scope.
getting_started/ros_example.1677512047.txt.gz · Last modified: 2023/02/27 16:34 by ursgraf