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--- getting_started:tutorials:hal4 [2019/01/17 12:27] – graf
+++ getting_started:tutorials:hal4 [2019/01/17 13:35] – [Subscribing] graf
@@ Line 4: / Line 4: @@
 ==== 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/val             (of type double)
+  * /test/state       (of type boolean)
-  * /test/safetyLevel     (of type unit32_t)
-With
+Use the same tools as in [[getting_started:tutorials:controlsystemros1|]] to show nodes, topics and messages.
-<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>
-This example runs your EEROS application as a ROS node under the name ''rosTest1''. It publishes two topics
+==== Subscribing ====
-  * /test1/vector  (of type Matrix<7,1,double>)
+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
-  * /test1/val     (of type double)
+  * /rosNodeTalker/val    (of type double)
+  * /rosNodeTalker/state  (of type boolean)
-Use the ROS tool ''rqt'' to list your nodes and topics.
+and logs its transported message values into the console. Use
-Open another shell to show the messages sent by EEROS, e.g.
 <code>
-$ rostopic echo /test1/vector
+$ rqt_graph
 </code>
+to show a graph with all involved nodes together with their topics.
-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
+==== Another Example ====
-  * /rosNodeTalker/vector  (of type Matrix<2,1,double>)
+There is another example, RosExample with HalConfigRos.json. It demonstrates the use of more message types. However, the example was never stripped of unnecessary bits.
-  * /rosNodeTalker/val     (of type double)
-and logs its transported message values into the console.