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 examples/ros/RosTest2.
This example runs your EEROS example into a ROS node under the name RosTest2. It publishes two topics

• /RosTest2/Vector
• /RosTest2/val

Use the ROS tool rqt to list your nodes and topics. Open another shell to show the messages sent by EEROS, e.g.

$ rostopic echo /rosTest2/Vector

Each topic transmits messages of a certain type. Depending on the message type you have to use certain blocks in your control system, see Blocks_for_Interfacing_with_ROS