ros in matlab -凯发k8网页登录

access ros networks and messages using matlab^®

ros shares information using messages. messages are a simple data structure for sharing data. to receive or subscribe to a message, use . to send or publish a message use . see for more information on sending messages.

ros services and actions enable users to perform tasks. services use request-response communication to gather information and trigger callback functions in the ros network. actions can be used to trigger tasks or goals and receive feedback during operation of these tasks.

functions

ros messages

	create ros messages
	retrieve information about ros messages and message types
	display all ros message contents
	retrieve information about ros topics

ros publisher and subscriber

	publish message on a topic
	subscribe to messages on a topic
	wait for new ros message
	publish ros message to topic

ros actions

	retrieve information about ros actions
	create ros action server
	create new action feedback message
	check if a goal has been preempted
	send feedback to action client during goal execution
	return function handle for ros action server callback
	create ros action client
	cancel all goals on action server
	cancel last goal sent by client
	send goal message to action server
	send goal message and wait for result
	wait for action server to start

ros services

	call ros or ros 2 service server and receive a response
	determine if ros or ros 2 service server is available
	retrieve information about services in ros network
	connect to ros service server
	create ros service server
	wait for ros or ros 2 service server to start

ros rate control

execute loop at fixed frequency

blocks

ros

	create blank message using specified message type
	retrieve current ros time or system time
	send messages to ros network
	receive messages from ros network
	call service in ros network

topics

ros publishers and subscribers

create, explore, and populate ros messages in matlab, that are commonly encountered in robotics applications.
list of supported ros message types in matlab.
publish and subscribe to topics in a ros network.
work with specialized ros messages
handle message types for laser scans, uncompressed and compressed images, point clouds, camera info, occcupancy grid, and octomap messages.
work with complex ros messages in matlab, such as messages with nested submessages and variable-length arrays.
demonstrates the use of ros message structures, and their benefits and differences from message objects.

ros services and actions

set up service servers to advertise a service to the ros network.
ros action workflow and communication protocols
this example shows how to use the /turtlebot_move action with a turtlebot robot.