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--- getting_started:tutorials:systemros1 [2026/04/09 08:34] – [Subscribing] ursgraf
+++ getting_started:tutorials:systemros1 [2026/04/09 11:26] (current) – ursgraf
@@ Line 116: / Line 116: @@
 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/vector  (of type Matrix<2,1,double>)
+  * /rosNodeTalker/analogSignal        (of type eeros_msgs/msg/AnalogSignal)
-  * /rosNodeTalker/val     (of type double)
+  * /rosNodeTalker/analogSignalVector  (of type eeros_msgs/msg/AnalogSignal)
-and logs its transported message values into the console. Alternatively you could publish a single message from the command line with
+  * /rosNodeTalker/digitalSignal       (of type eeros_msgs/msg/DigitalSignal)
+  * /rosNodeTalker/digitalSignalVector (of type eeros_msgs/msg/DigitalSignal)
+  * /rosNodeTalker/twist               (of type geometry_msgs/msg/Twist)
+and logs its transported message values into the console. Alternatively you could publish messages from the command line with
 <code>
-$ ros2 topic pub /rosNodeTalker/val example_interfaces/msg/Float64 "data: -2.3"
+$ ros2 topic pub /rosNodeTalker/analogSignal    eeros_msgs/msg/AnalogSignal "{timestamp: {sec: 1, nanosec: 1000}, val: [10.5]}"
-$ ros2 topic pub /rosNodeTalker/vector example_interfaces/msg/Float64MultiArray "{layout: {dim: [], data_offset: 0}, data: [2.5, 1.76]}"
+$ ros2 topic pub /rosNodeTalker/analogSignalVector  eeros_msgs/msg/AnalogSignal "{timestamp: {sec: 2, nanosec: 2000}, val: [-1, 0.5]}"
 </code>