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Nov 29, 2022
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Update using_ros.md #925

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12 changes: 11 additions & 1 deletion docs/src/examples/using_ros.md
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Expand Up @@ -55,11 +55,12 @@ Caesar.jl has native by optional package tools relating to RobotOS.jl (leveragin
```julia
using RobotOS

@rosimport std_msgs.msg: Header
@rosimport sensor_msgs.msg: PointCloud2

rostypegen()

using Colors, Caesar
using Caesar
Distributed.@everywhere using Colors, Caesar
```

Expand Down Expand Up @@ -152,6 +153,15 @@ This has been tested and use with much more complicated types such as the [`Caes

## Additional Notes

### ROS Conversions, e.g. PCL

By loading RobotOS.jl, the Caesar module will also load additional functionality to convert some of the basic data types between ROS and PCL familiar types, for example `PCLPointCloud2`:
```julia
wPC = Caesar._PCL.PointCloud()
wPC2 = Caesar._PCL.PCLPointCloud2(wPC)
rmsg = Caesar._PCL.toROSPointCloud2(wPC2);
```

### More Tools for Real-Time

See tools such as
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