ROS in Simulink
ROS Toolboxenables you to connect to ROS and ROS 2 in Simulink and send messages over the network. See开始与ROS在仿真软件®金宝app.
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
Blocks
Topics
ROS Network
ROS Simulink Support and Limitations
The ROS Toolbox does not support the following ROS features 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.
Details for setting ROS parameters in Simulink.
Parameters for connecting to a ROS device.
Simulink and ROS Interaction Overview
ROS 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.
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/clock
topic on a ROS network.
调优Parameters and View Signals on Deployed Robot 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.