getting_started:tutorials:controlsystemros1
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getting_started:tutorials:controlsystemros1 [2017/11/05 21:01] – graf | getting_started:tutorials:controlsystemros1 [2019/01/17 09:05] – [Subscribing] graf | ||
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====== Control System Interacting with ROS ====== | ====== Control System Interacting with ROS ====== | ||
- | In the EEROS library you will find a directory with examples. Open a shell and run '' | + | In the EEROS library you will find a directory with examples. Open a shell and run '' |
- | This example runs your EEROS application as a ROS node under the name '' | + | ==== Publishing ==== |
- | * /test1/ | + | This example runs your EEROS application as a ROS node under the name /// |
- | * /test1/val (of type double) | + | * /test/ |
+ | * /test/val (of type double) | ||
- | Use the ROS tool '' | + | With |
+ | < | ||
+ | $ rosnode list | ||
+ | </ | ||
+ | you will see the new node. With | ||
+ | < | ||
+ | $ rostopic | ||
+ | </ | ||
+ | will list the two topics | ||
Open another shell to show the messages sent by EEROS, e.g. | Open another shell to show the messages sent by EEROS, e.g. | ||
< | < | ||
- | $ rostopic echo / | + | $ rostopic echo / |
+ | </ | ||
+ | With | ||
+ | < | ||
+ | $ rostopic hz /test/val | ||
+ | </ | ||
+ | you can easily check how often data is sent from out ROS node. Try to plot some of the data with | ||
+ | < | ||
+ | $ rqt_plot / | ||
</ | </ | ||
- | Open another shell in the build directory of your EEROS library and run '' | + | ==== Subscribing ==== |
+ | Open another shell in the build directory of your EEROS library and run '' | ||
* / | * / | ||
* / | * / | ||
- | and logs its transported message values into the console. | + | and logs its transported message values into the console. Use |
+ | < | ||
+ | $ rqt_graph | ||
+ | </ | ||
+ | to show a graph with all involved nodes together with their topics. | ||