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getting_started:tutorials:hal4

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getting_started:tutorials:hal4 [2023/02/26 18:51] – ursgrafgetting_started:tutorials:hal4 [2023/02/27 14:02] (current) – [Subscribing] ursgraf
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 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>
  
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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.+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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 ==== 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>
 +
 +==== 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
 +</code>
 +to show a graph with all involved nodes together with their topics or to plot messages.
 +
 +
getting_started/tutorials/hal4.1677433870.txt.gz · Last modified: 2023/02/26 18:51 by ursgraf