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getting_started:tutorials:controlsystemros1 [2019/01/17 09:05] – [Subscribing] grafgetting_started:tutorials:controlsystemros1 [2019/06/09 12:58] – [Control System Interacting with ROS] 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 ''roscore''. Open another shell in the build directory of your EEROS library and run ''sudo -E examples/ros/rosTest1''. \\+In the EEROS library you will find a directory with examples. Open a shell and run ''roscore''. Open another shell in the build directory of your EEROS library and run ''sudo -E examples/ros/rosTest1''. This example will only be present in your build directory if ROS was installed before building EEROS. \\
 ==== Publishing ==== ==== Publishing ====
-This example runs your EEROS application as a ROS node under the name ///rosTest//. It publishes two topics +This example runs your EEROS application as a ROS node under the name ///eerosNode//. It publishes three topics 
-  * /test/vector  (of type Matrix<7,1,double>+  * /test/vector          (of type Matrix<7,1,double>
-  * /test/val     (of type double)+  * /test/val             (of type double
 +  * /test/safetyLevel     (of type unit32_t)
  
 With  With 
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 $ rostopic list $ rostopic list
 </code> </code>
-will list the two topics which are published be our node, ///test/val// and ///test/vector//.+will list the two topics which are published be our node, ///test/val/////test/vector//, and ///test/safetyLevel//.
 Open another shell to show the messages sent by EEROS, e.g. Open another shell to show the messages sent by EEROS, e.g.
 <code> <code>
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 $ rostopic hz /test/val $ rostopic hz /test/val
 </code> </code>
-you can easily check how often data is sent from out ROS node. Try to plot some of the data with+you can easily check how often data is sent from out ROS node. Try to plot the data with
 <code> <code>
-$ rqt_plot /test/val /test1/vector/data[0] /test/vector/data[1]+$ rqt_plot /test/val /test1/vector/data[0] /test/vector/data[1] /test/safetyLevel
 </code> </code>