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--- getting_started:tutorials:hal4 [2019/01/17 13:26] – [Publishing] graf
+++ getting_started:tutorials:hal4 [2019/01/17 13:28] – [Publishing] graf
@@ Line 5: / Line 5: @@
 This example runs your EEROS application as a ROS node under the name ///eerosNode//. It publishes three topics
   * /test/val         (of type double)
-  * /test/state       (of type bool)
+  * /test/state       (of type boolean)
 Use the same tools as in [[getting_started:tutorials:controlsystemros1|]] to show nodes, topics and messages.
-</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
-This example runs your EEROS application as a ROS node under the name ''rosTest1''. It publishes two topics
+  * /rosNodeTalker/val    (of type double)
-  * /test1/vector  (of type Matrix<7,1,double>)
+  * /rosNodeTalker/state  (of type boolean)
-  * /test1/val     (of type double)
+and logs its transported message values into the console. Use
-Use the ROS tool ''rqt'' to list your nodes and topics.
-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
-  * /rosNodeTalker/vector  (of type Matrix<2,1,double>)
-  * /rosNodeTalker/val     (of type double)
-and logs its transported message values into the console.