getting_started:tutorials:systemros1
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| getting_started:tutorials:systemros1 [2023/02/25 07:40] – [Control System Talking to ROS] ursgraf | getting_started:tutorials:systemros1 [2024/12/06 18:53] (current) – ursgraf | ||
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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 /// | + | This example runs your EEROS application as a ROS node under the name /// |
| - | * /test/vector | + | * /test/analogSignal |
| - | * /test/val (of type double) | + | * /test/analogSignalVector |
| - | * / | + | * / |
| + | * / | ||
| + | * / | ||
| + | * / | ||
| With | With | ||
| Line 33: | Line 36: | ||
| $ rostopic list | $ rostopic list | ||
| </ | </ | ||
| - | will list the three topics which are published be our node, /// | + | 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. | ||
| < | < | ||
| - | $ rostopic echo /test/vector | + | $ rostopic echo /test/analogSignalVector |
| </ | </ | ||
| With | With | ||
| < | < | ||
| - | $ rostopic hz /test/val | + | $ rostopic hz /test/analogSignalVector |
| </ | </ | ||
| 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 | ||
| < | < | ||
| - | $ rqt_plot /test/val /test1/vector/data[0] /test/vector/data[1] / | + | $ rqt_plot /test/analogSignal |
| </ | </ | ||
| Line 79: | Line 82: | ||
| * / | * / | ||
| * / | * / | ||
| - | * / | + | * / |
| With | With | ||
| Line 106: | Line 109: | ||
| 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 | ||
| < | < | ||
| - | $ ros2 topic pub / | + | $ ros2 topic pub / |
| - | $ ros2 topic pub / | + | $ ros2 topic pub / |
| </ | </ | ||
| Use | Use | ||
| < | < | ||
| - | $ rqt_graph | + | $ rqt |
| </ | </ | ||
| - | to show a graph with all involved nodes together with their topics. | + | to show a graph with all involved nodes together with their topics |
getting_started/tutorials/systemros1.1677307259.txt.gz · Last modified: 2023/02/25 07:40 by ursgraf