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/RosTest1.
This example runs your EEROS application as a ROS node under the name RosTest1. It publishes two topics

• /test1/vector (of type Matrix<7,1,double>)
• /test1/val (of type double)

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 /test1/vector

Open another shell in the build directory of your EEROS library and run rosNodeTalker. This starts a ROS node which publishes a couple of test topics. As soon as rosNodeTalker runs your example application will receive the two topics

• /rosNodeTalker/vector (of type Matrix<2,1,double>)
• /rosNodeTalker/val (of type double)

and logs its transported message values into the console.