Hello World example

• start the hello world node

$ roslaunch mcr_robinson_hello_world_ros hello_world.launch

• listen to the output port

$ rostopic echo /hello_world/pout_answer

• send a name to the input port

$ rostopic pub -r 1 hello_world/pin_name std_msgs/String "Matthias"

• send the start event

$ rostopic pub /hello_world/event_in std_msgs/String "e_start"

-> "Hello " should now be published on the output port

• send stop event

$ rostopic pub /hello_world/event_in std_msgs/String "e_stop"