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rosnode

Retrieve information about ROS network nodes

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Syntax

rosnode list
rosnode info nodename
rosnode ping nodename
nodelist = rosnode("list")
nodeinfo = rosnode("info",nodename)
rosnode("ping",nodename)

Description

example

rosnode listreturns a list of all nodes registered on the ROS network. Use these nodes to exchange data between MATLAB®and the ROS network.

rosnode infonodenamereturns a structure containing the name, URI, publications, subscriptions, and services of a specific ROS node,nodename.

rosnode pingnodenamepings a specific node,nodename, and displays the response time.

nodelist= rosnode("list")returns a cell array of character vectors containing the nodes registered on the ROS network.

example

nodeinfo= rosnode("info",nodename)returns a structure containing the name, URI, publications, subscriptions, and services of a specific ROS node,nodename.

example

rosnode("ping",nodename)pings a specific node,nodenameand displays the response time.

Examples

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Open Live Script

Note:This example requires a valid ROS network to be active with ROS nodes previously set up.

Connect to the ROS network. Specify the IP address for your specific network.

rosinit('192.168.17.128')
初始化全局节点/垫lab_global_node_99071 with NodeURI http://192.168.17.1:64076/

List the nodes available from the ROS master.

rosnodelist
/gazebo /laserscan_nodelet_manager /matlab_global_node_99071 /mobile_base_nodelet_manager /robot_state_publisher /rosout

Shut down the ROS network.

rosshutdown
Shutting down global node /matlab_global_node_99071 with NodeURI http://192.168.17.1:64076/
Open Live Script

Connect to the ROS network. Specify the IP address for your specific network.

rosinit('192.168.17.128')
初始化全局节点/垫lab_global_node_96994 with NodeURI http://192.168.17.1:64267/

Get information on the '/robot_state_publisher' node. This node is available on the ROS master.

nodeinfo = rosnode('info','/robot_state_publisher')
nodeinfo =struct with fields:NodeName: '/robot_state_publisher' URI: 'http://192.168.17.128:43330/' Publications: [3×1 struct] Subscriptions: [2×1 struct] Services: [2×1 struct]

Shut down the ROS network.

rosshutdown
关闭/ matlab_global_node_9699全球节点4 with NodeURI http://192.168.17.1:64267/
Open Live Script

Connect to the ROS network. Specify the IP address for your specific network.

rosinit('192.168.17.128')
初始化全局节点/垫lab_global_node_59489 with NodeURI http://192.168.17.1:64471/

Ping the '/robot_state_publisher' node. This node is available on the ROS master.

nodeinfo = rosnode('info','/robot_state_publisher')
nodeinfo =struct with fields:NodeName: '/robot_state_publisher' URI: 'http://192.168.17.128:43330/' Publications: [3×1 struct] Subscriptions: [2×1 struct] Services: [2×1 struct]

Shut down the ROS network.

rosshutdown
Shutting down global node /matlab_global_node_59489 with NodeURI http://192.168.17.1:64471/

Input Arguments

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Name of node, specified as a string scalar or character vector. The name of the node must match the name given in ROS.

Output Arguments

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Information about ROS node, returned as a structure containing these fields:NodeName,URI,Publications,Subscriptions, andServices. Access these properties using dot syntax, for example,nodeinfo.NodeName.

List of node names available, returned as a cell array of character vectors.

See Also

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Introduced in R2019b

ROS Toolbox Documentation

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