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getting_started:tutorials:hal4

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getting_started:tutorials:hal4 [2023/02/27 13:49] – [Using ROS2] ursgrafgetting_started:tutorials:hal4 [2023/02/27 13:56] – [Publishing] ursgraf
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   * /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. 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.+Use the same tools as in [[getting_started:tutorials:systemros1#using_ros1|Control System Talking to ROS]] 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 ====
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 $ sudo -E ./examples/ros/rosTest2 -c RosTest2Config.json $ sudo -E ./examples/ros/rosTest2 -c RosTest2Config.json
 </code> </code>
 +
 +==== Publishing ====
 +This example runs your EEROS application as a ROS node under the name ///eerosNode//. It publishes two topics
 +  * /test/val         (of type double)
 +  * /test/state       (of type boolean)
 +
 +Use the same tools as in [[getting_started:tutorials:systemros1#using_ros2|Control System Talking to ROS]] 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 ====
 +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/val    (of type double)
 +  * /rosNodeTalker/state  (of type boolean)
 +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.
 +
  
getting_started/tutorials/hal4.txt · Last modified: 2023/02/27 14:02 by ursgraf