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--- getting_started:tutorials:systemros1 [2024/12/06 13:06] – [Publishing] ursgraf
+++ getting_started:tutorials:systemros1 [2024/12/06 18:53] (current) – ursgraf
@@ Line 20: / Line 20: @@
 IMPORTANT You have to run a program using real time threads with root privileges.
 ==== 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/analogSignal          (of type eeros_msgs/msg/AnalogSignal with a single double value)
   * /test/analogSignalVector    (of type eeros_msgs/msg/AnalogSignal with a vector of 7 entries of type double)
@@ Line 36: / Line 36: @@
 $ rostopic list
 </code>
-will list the three 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.
 <code>
-$ rostopic echo /test/vector
+$ rostopic echo /test/analogSignalVector
 </code>
 With
 <code>
-$ rostopic hz /test/val
+$ rostopic hz /test/analogSignalVector
 </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
+$ rqt_plot /test/analogSignal /test/analogSignalVector/val[0] /test/analogSignalVector/val[1] /test/safetyLevel
 </code>