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--- getting_started:tutorials:systemros1 [2023/02/09 10:57] – [Publishing] ursgraf
+++ getting_started:tutorials:systemros1 [2023/02/27 14:00] (current) – [Subscribing] ursgraf
@@ Line 1: / Line 1: @@
 ====== 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 =====
@@ Line 106: / Line 106: @@
 and logs its transported message values into the console. Alternatively you could publish a single message from the command line with
 <code>
-$ rostopic pub /rosNodeTalker/val std_msgs/Float64 -- -2.3
+$ ros2 topic pub /rosNodeTalker/val std_msgs/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 std_msgs/msg/Float64MultiArray "{layout: {dim: [], data_offset: 0}, data: [2.5, 1.76]}"
 </code>
 Use
 <code>
-$ rqt_graph
+$ rqt
 </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.