Back to Interfacing with ROS.

If your EEROS-ROS node is on the host where you also run your ROS master the procedure is straightforward. You can use all your ROS tools as you do without using EEROS. Beware that you built EEROS with ROS support. When running EEROS examples or any other EEROS application you have to make sure that the ROS libraries can be found when dynamic linking comes up. Run your ROS setup scripts as given in Preparations and Building EEROS with ROS Support.

Do not run your program with root privileges because the DDS layer of ROS might show discovery issues. Your program needs real-time privileges for the executor to change scheduling parameters, see

As your application on the target will register as a ROS node, it has to find your host computer. Find out the ip number of your target as well as the ip number with which your target reaches your host. If in doubt, try to ping your host computer from the target and vice versa.

Start your application as a regular EEROS application.

Use graphical utilities such as rqt or rviz on the host.