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--- getting_started:tutorials:controlsystemros1 [2019/06/11 09:29] – [Control System Interacting with ROS] graf
+++ getting_started:tutorials:controlsystemros1 [2020/12/03 10:14] (current) – removed ursgraf
@@ Line 1: / Line 1: @@
-====== 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''. This example will only be present in your build directory if ROS was installed before building EEROS with ''-DUSE_ROS=TRUE'' set, see [[getting_started:ros#Preparations_and_Building|Preparations and Building]]. \\
-==== Publishing ====
-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/val             (of type double)
-  * /test/safetyLevel     (of type unit32_t)
-With
-<code>
-$ rosnode list
-</code>
-you will see the new node. With
-<code>
-$ rostopic list
-</code>
-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.
-<code>
-$ rostopic echo /test/vector
-</code>
-With
-<code>
-$ rostopic hz /test/val
-</code>
-you can easily check how often data is sent from out ROS node. Try to plot the data with
-<code>
-$ rqt_plot /test/val /test1/vector/data[0] /test/vector/data[1] /test/safetyLevel
-</code>
-==== 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
-<code>
-$ rqt_graph
-</code>
-to show a graph with all involved nodes together with their topics.