ROS in Simulink

Access ROS networks and messages using Simulink^®

ROS Toolboxenables you to connect to ROS and ROS 2 in Simulink and send messages over the network. SeeGet Started with ROS in Simulink.

You can also generate and deploy code to a target system. For an advanced example on creating a standalone ROS node, seeGenerate a Standalone ROS 2 Node from Simulink®.

To run, stop, or check the status of deployed ROS nodes available on a ROS device, use the MATLAB^®functions listed. Create a connection to a ROS device usingrosdevice.

Functions

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ROS Nodes and Devices

`rosdevice`	Connect to remote ROS device
`runNode`	Start ROS or ROS 2 node
`stopNode`	Stop ROS or ROS 2 node
`runCore`	Start ROS core
`stopCore`	Stop ROS core
`isNodeRunning`	Determine if ROS or ROS 2 node is running
`isCoreRunning`	Determine if ROS core is running

ROS 2 Nodes and Devices

`ros2device`	Connect to remote ROS 2 device
`runNode`	Start ROS or ROS 2 node
`stopNode`	Stop ROS or ROS 2 node
`isNodeRunning`	Determine if ROS or ROS 2 node is running

Blocks

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ROS

Blank Message	Create blank message using specified message type
Call Service	Call service in ROS network
Current Time	Retrieve current ROS time or system time
Get Parameter	Get values from ROS parameter server
Header Assignment	Update fields of ROS message header
Publish	Send messages to ROS network
Read Data	Play back data from log file
Read Image	Extract image from ROS Image message
Read Scan	Extract scan data from ROS or ROS 2 laser scan message
Read Point Cloud	Extract point cloud from ROS PointCloud2 message
Set Parameter	Set values on ROS parameter server
Subscribe	Receive messages from ROS network
Write Image	Write image data to a ROS or ROS 2 message
Write Point Cloud	Write point cloud data to a ROS or ROS 2 message

ROS 2

Blank Message	Create blank ROS 2 message using specified message type
Call Service	Call service in ROS 2 network
Publish	Send messages to ROS 2 network
Read Data	Play back data from ROS 2 log file
Read Image	Extract image from ROS 2`Image`message
Read Scan	Extract scan data from ROS or ROS 2 laser scan message
Read Point Cloud	Extract point cloud from ROS 2`PointCloud2`message
Subscribe	Receive messages from ROS 2 network
Write Image	Write image data to a ROS or ROS 2 message
Write Point Cloud	Write point cloud data to a ROS or ROS 2 message

Topics

ROS Network

ROS Simulink Support and Limitations
The ROS Toolbox does not support the following ROS features in Simulink:
Get Started with ROS in Simulink
This example shows how to use Simulink® blocks for ROS to send and receive messages from a local ROS network.
Configure ROS Network Addresses
Configure ROS Network Addresses Dialog
Connect to a ROS-enabled Robot from Simulink®
You can use Simulink to connect to a ROS-enabled physical robot or to a ROS-enabled robot simulator such asGazebo.
ROS Parameters in Simulink
Details for setting ROS parameters in Simulink.
Connect to ROS Device
Parameters for connecting to a ROS device.
ROS Simulink Interaction
Simulink and ROS Interaction Overview

ROS and ROS 2 Messages

Work with ROS Messages in Simulink
This example illustrates how to work with complex ROS messages in Simulink, such as messages with nested sub-messages and variable-length arrays.
Work with ROS 2 Messages in Simulink
This example illustrates how to work with complex ROS 2 messages in Simulink®, such as messages with nested sub-messages and variable-length arrays.
Select ROS Topics, Messages, and Parameters
Dialog box descriptions for selection ROS topics and messages.
Manage Array Sizes for ROS Messages in Simulink
Description of dialog box for managing array sizes in Simulink ROS

ROS 2 Network

Get Started with ROS 2 in Simulink®
This example shows how to use Simulink blocks for ROS 2 to send and receive messages from a local ROS 2 network.
Publish and Subscribe to ROS 2 Messages in Simulink
This model shows how to publish and subscribe to a ROS 2 topic using Simulink®.
Connect to a ROS-Enabled Robot from Simulink® over ROS 2
这个例子向您展示了如何配置一个仿真软件金宝appmodel to send and receive information from a separate ROS-based simulator such as Gazebo® over ROS 2.

ROS Applications

Generate a Standalone ROS Node from Simulink®
This example shows you how to generate and build a standalone ROS node from a Simulink model.
Feedback Control of a ROS-Enabled Robot
Use Simulink® to control a simulated robot running in a separate ROS-based simulator.
Sign Following Robot with ROS in Simulink
This example shows how to use Simulink® to control a simulated robot running on a separate ROS-based simulator.
Automated Parking Valet with ROS in Simulink
Distribute an automated parking valet application among various nodes in a ROS network in Simulink®.
Generate Code to Manually Deploy a ROS Node from Simulink
This example shows you how to generate C++ code from a Simulink model to deploy as a standalone ROS node.

ROS 2 Applications

Generate a Standalone ROS 2 Node from Simulink®
This example shows you how to generate and build a standalone ROS 2 node from a Simulink® model.
Feedback Control of a ROS-Enabled Robot Over ROS 2
This example shows you how to use Simulink® to control a simulated robot running in a Gazebo® robot simulator over ROS 2 network.
Sign Following Robot with ROS 2 in Simulink
Use Simulink® to control a simulated robot running on a separate ROS-based simulator over ROS 2 network.
Automated Parking Valet with ROS 2 in Simulink
This example shows how to distribute the Automated Parking Valet application among various nodes in a ROS 2 network in Simulink® and deploy them as standalone ROS 2 nodes.
Generate Code to Manually Deploy a ROS 2 Node from Simulink®
This example shows you how to generate C++ code from a Simulink® model to deploy as a standalone ROS 2 node.

Model Execution

Enable External Mode for ROS Toolbox Models
External mode enables Simulink on your host computer to communicate with a deployed model on your robotics hardware during runtime.
Enable ROS Time Model Stepping for Deployed ROS Nodes
You can enable a deployed ROS node to execute based on the time published on the/clocktopic on a ROS network.
调整参数和查看信号部署机器人Models Using External Mode
External mode enables Simulink models on your host computer to communicate with a deployed model on your robot hardware during runtime.
Overrun Detection with Deployed ROS Nodes
You can enable overrun detection for a deployed ROS node.