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getting_started:tutorials:systemros1

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getting_started:tutorials:systemros1 [2023/02/09 10:33] – ursgrafgetting_started:tutorials:systemros1 [2024/12/06 18:53] (current) – ursgraf
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 ====== Control System Talking to ROS ====== ====== Control System Talking to ROS ======
  
-EEROS can work with ROS1 or ROS2. However, you have to make sure, that you compile EEROS with support for the right version of ROS. Further, the naming and use of the ROS tools have changed.+EEROS can work with ROS1 or ROS2. However, you have to make sure, that you compile EEROS with support for the right version of ROS. Further, the naming and use of the tools in ROS1 and ROS2 have slightly changed.
  
 ===== Using ROS1 ===== ===== Using ROS1 =====
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 IMPORTANT You have to run a program using real time threads with root privileges.  IMPORTANT You have to run a program using real time threads with root privileges. 
 ==== Publishing ==== ==== Publishing ====
-This example runs your EEROS application as a ROS node under the name ///eerosNode//. It publishes three topics +This example runs your EEROS application as a ROS node under the name ///eerosNode//. It publishes six topics 
-  * /test/vector          (of type Matrix<7,1,double>) +  * /test/analogSignal          (of type eeros_msgs/msg/AnalogSignal with a single double value) 
-  * /test/val             (of type double) +  * /test/analogSignalVector    (of type eeros_msgs/msg/AnalogSignal with a vector of 7 entries of type double) 
-  * /test/safetyLevel     (of type unit32_t)+  * /test/digitalSignal          (of type eeros_msgs/msg/DigitalSignal with a single bool value) 
 +  * /test/digitalSignalVector    (of type eeros_msgs/msg/DigitalSignal with a vector of 7 entries of type bool) 
 +  * /test/safetyLevel     (currently active safety level of type std_msgs/msg/String) 
 +  * /test/odom     (odometry data of type nav_msgs/msg/Odometry)
  
 With  With 
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 $ rostopic list $ rostopic list
 </code> </code>
-will list the two topics which are published be our node, ///test/val//, ///test/vector//, and ///test/safetyLevel//.+will list all the topics which are published be our node.
 Open another shell to show the messages sent by EEROS, e.g. Open another shell to show the messages sent by EEROS, e.g.
 <code> <code>
-$ rostopic echo /test/vector+$ rostopic echo /test/analogSignalVector
 </code> </code>
 With  With 
 <code> <code>
-$ rostopic hz /test/val+$ rostopic hz /test/analogSignalVector
 </code> </code>
 you can easily check how often data is sent from out ROS node. Try to plot the data with you can easily check how often data is sent from out ROS node. Try to plot the data with
 <code> <code>
-$ rqt_plot /test/val /test1/vector/data[0] /test/vector/data[1] /test/safetyLevel+$ rqt_plot /test/analogSignal /test/analogSignalVector/val[0] /test/analogSignalVector/val[1] /test/safetyLevel
 </code> </code>
  
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 If you work on a target make sure to setup the environment as given in [[getting_started:ros_run|]]. If you work on a target make sure to setup the environment as given in [[getting_started:ros_run|]].
  
-Open a shell and run +Open a shell in the build directory of your EEROS library and run 
 <code> <code>
-$ roscore +$ sudo -E ./examples/ros2/rosTest1
-</code> +
-Open another shell in the build directory of your EEROS library and run  +
-<code> +
-$ sudo -E ./examples/ros/rosTest1+
 </code> </code>
 IMPORTANT You have to run a program using real time threads with root privileges.  IMPORTANT You have to run a program using real time threads with root privileges. 
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   * /test/vector          (of type Matrix<7,1,double>)   * /test/vector          (of type Matrix<7,1,double>)
   * /test/val             (of type double)   * /test/val             (of type double)
-  * /test/safetyLevel     (of type unit32_t)+  * /test/safetyLevel     (of type string)
  
 With  With 
 <code> <code>
-$ rosnode list+$ ros2 node list
 </code> </code>
 you will see the new node.  you will see the new node. 
 <code> <code>
-$ rostopic list+$ ros2 topic list
 </code> </code>
-will list the two topics which are published be our node, ///test/val//, ///test/vector//, and ///test/safetyLevel//.+will list the three topics which are published be our node, ///test/val//, ///test/vector//, and ///test/safetyLevel//.
 Open another shell to show the messages sent by EEROS, e.g. Open another shell to show the messages sent by EEROS, e.g.
 <code> <code>
-$ rostopic echo /test/vector+$ ros2 topic echo /test/vector
 </code> </code>
 With  With 
 <code> <code>
-$ rostopic hz /test/val +$ ros2 topic hz /test/val
-</code> +
-you can easily check how often data is sent from out ROS node. Try to plot the data with +
-<code> +
-$ rqt_plot /test/val /test1/vector/data[0] /test/vector/data[1] /test/safetyLevel+
 </code> </code>
 +you can easily check how often data is sent from out ROS node. 
  
 ==== Subscribing ==== ==== Subscribing ====
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 and logs its transported message values into the console. Alternatively you could publish a single message from the command line with  and logs its transported message values into the console. Alternatively you could publish a single message from the command line with 
 <code> <code>
-$ rostopic pub /rosNodeTalker/val std_msgs/Float64 -- -2.3 +$ ros2 topic pub /rosNodeTalker/val example_interfaces/msg/Float64 "data: -2.3" 
-$ rostopic pub /rosNodeTalker/vector std_msgs/Float64MultiArray "{layout: {dim: [], data_offset: 0}, data: [2.5, 1.76]}"+$ ros2 topic pub /rosNodeTalker/vector example_interfaces/msg/Float64MultiArray "{layout: {dim: [], data_offset: 0}, data: [2.5, 1.76]}"
 </code> </code>
  
 Use Use
 <code> <code>
-$ rqt_graph+$ rqt
 </code> </code>
-to show a graph with all involved nodes together with their topics.+to show a graph with all involved nodes together with their topics or to plot messages.
  
getting_started/tutorials/systemros1.1675935236.txt.gz · Last modified: 2023/02/09 10:33 by ursgraf