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--- getting_started:ros_prep [2021/03/29 15:51] – created ursgraf
+++ getting_started:ros_prep [2026/04/09 18:59] (current) – ursgraf
@@ Line 1: / Line 1: @@
-===== Preparations and Building with ROS =====
+====== Preparations and Building EEROS with ROS Support ======
-ROS needs to be installed on the developer machine as well as on the target machine.
-Before a ROS application can be started, you need to run the ''setup.bash'' script of ROS. This can be done with
+Back to [[getting_started:ros|]].
+ROS1 or ROS2 needs to be installed on the developer machine as well as on the target machine.
+For building the EEROS library with ROS support, for building an EEROS application with ROS support or before an EEROS application with ROS support can be started, you need to run the ''setup.bash'' script of ROS. This can be done with
+<code>
+source /path_to_ros_install_dir/setup.bash
+</code>
+Our EEROS build scripts already include the ''setup.bash''.
+IMPORTANT If an integrated development environment such as ''kdevelop'' or ''Qt Creator'' is used, the IDE has to be started from a terminal after the ''setup.bash'' script has run therein.
+EEROS defines its own ROS messages.
+  * AnalogSignal.msg
+  * DigitalSignal.msg
+They are used to transport an analog signal (double or array of doubles) together with its timestamp. The digital message is of type boolean or array of boolean together with its timestamp.
+When you use these messages in one of your applications or want to run one of the ROS examples in EEROS, make sure to make these messages available by running the corresponding setup script with
 <code>
-source /path_to_ros_installation/setup.bash
+source /path_to_eeros_install_dir/share/eeros_msgs/local_setup.bash
 </code>
-The same applies for building the EEROS library with ROS support and for building an EEROS application with ROS support. Our EEROS build scripts already include the ''setup.bash''.
+==== Building the EEROS library with ROS ====
+If you build the library with cmake, make sure you use the -DUSE_ROS=TRUE (for ROS1) or the -DUSE_ROS2=TRUE (for ROS2) switch.
+An example of a cmake call could look like this:
-IMPORTANT If an integrated development environment such as ''kdevelop'' or ''Qt Creator'' is used, the IDE has to be started from a terminal after the ''setup.bash'' script has run.
+''cmake -DCMAKE_INSTALL_PREFIX="$install_dir" -DUSE_ROS2=TRUE ..''
-=== Building the EEROS library with ROS ===
-If you build the library with cmake, make sure you use the -DUSE_ROS=TRUE switch.
-An example of a cmake call could look like this:\\
-''cmake -DCMAKE_INSTALL_PREFIX="$install_dir" -DUSE_ROS=TRUE ..''
 Our build scripts already include this switch.