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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
.
Publishing
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)
With
$ rosnode list
you will see the new node. With
$ rostopic list
will list the two topics which are published be our node, /test1/val and /test1/vector. Open another shell to show the messages sent by EEROS, e.g.
$ rostopic echo /test1/vector
With
$ rostopic hz /test1/val
you can easily check how often data is sent from out ROS node. Try to plot some of the data with
$ rqt_plot /test1/val /test1/vector/data[0] /test1/vector/data[1]
Subscribing
Open another shell in the build directory of your EEROS library and run rosNodeTalker
. This is not a EEROS program but simply 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. Use
$ rqt_graph
to show a graph with all involved nodes together with their topics.