TurtleBot interface object, specified as aturtlebotobject. The object contains properties for activating subscribers and accessing topic names relevant to the TurtleBot. The properties contain the topic name and active status of different subscribers for the TurtleBot. When you create the object withturtlebot, the properties available are:

tbot = turtlebot

tbot = turtlebot with properties: Velocity: [1x1 struct] ColorImage: [1x1 struct] GrayImage: [1x1 struct] DepthImage: [1x1 struct] PointCloud: [1x1 struct] LaserScan: [1x1 struct] Odometry: [1x1 struct] OdometryReset: [1x1 struct] IMU: [1x1 struct] TransformFrames: {0x1 cell} TopicNames: {3x1 cell}

For properties with relevant ROS data messages , you can view the topic name and a subscriber’s active status. A specific subscriber is active for the givenTopicNameif活跃的equals 1.

tbot.Velocity

ans = TopicName: '/mobile_base/commands/velocity' Active: 1

Timeout for receiving an image, specified as a scalar in seconds. The function returns an error aftertimeoutseconds. Iftimeoutequals zero, the function returns the latest image. If the TurtleBot has no latest message, the function returns a blank image and blank image message.