Real-Time Robotics Framework

User Tools

Site Tools

You are here: EEROS Wiki » Get Started Using EEROS » Tutorials » Using ROS through the HAL
getting_started:tutorials:hal4

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Next revisionBoth sides next revision
getting_started:tutorials:hal4 [2023/02/26 18:51] – ursgrafgetting_started:tutorials:hal4 [2023/02/27 13:49] – [Using ROS2] ursgraf
Line 7: Line 7:
 In the EEROS library you will find a directory with examples. For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/ros/RosTest2.cpp|RosTest2.cpp]]. In the EEROS library you will find a directory with examples. For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/ros/RosTest2.cpp|RosTest2.cpp]].
  
-Open a shell and run ''roscore''. Open another shell in the build directory of your EEROS library and run +This examples with ROS will only be present in your build directory if ROS was installed before building EEROS with ''-DUSE_ROS=TRUE'' set, see [[getting_started:ros_prep|Preparations and Building]].  
 +Open a shell in the build directory of your EEROS library and run 
 <code> <code>
-$ sudo -E ./examples/ros/rosTest2 -c RosTest2Config.json+$ sudo -E ./examples/ros2/rosTest2 -c RosTest2Config.json
 </code> </code>
  
Line 17: Line 18:
   * /test/state       (of type boolean)   * /test/state       (of type boolean)
  
-Use the same tools as in [[getting_started:tutorials:systemros1|]] to show nodes, topics and messages.+Use the same tools as in [[getting_started:tutorials:systemros1|]] to show nodes, topics and messages. The output on ''/test/state'' reflects what is input on ''/rosNodeTalker/state''. As long as this topic is not written to, the published state will not change, see below.
  
 ==== Subscribing ==== ==== Subscribing ====
Line 31: Line 32:
 ==== Another Example ==== ==== Another Example ====
 There is another example, RosExample with HalConfigRos.json. It demonstrates the use of more message types. There is another example, RosExample with HalConfigRos.json. It demonstrates the use of more message types.
 +
 +===== Using ROS2 =====
 +
 +In the EEROS library you will find a directory with examples. For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/ros2/RosTest2.cpp|RosTest2.cpp]].
 +
 +Open a shell in the build directory of your EEROS library. This examples with ROS will only be present in your build directory if ROS2 was installed before building EEROS with ''-DUSE_ROS2=TRUE'' set, see [[getting_started:ros_prep|Preparations and Building]]. 
 +
 +If you work on a target make sure to setup the environment as given in [[getting_started:ros_run|]].
 +
 +Open a shell in the build directory of your EEROS library and run 
 +<code>
 +$ sudo -E ./examples/ros/rosTest2 -c RosTest2Config.json
 +</code>
 +
getting_started/tutorials/hal4.txt · Last modified: 2023/02/27 14:02 by ursgraf