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foreword

As we all know, Matlab&Simulink is a powerful data processing and algorithm design tool, and provides an interactive interface with ROS, which allows the two to establish a connection to realize the information interaction between Windows and Ubantu systems. At the same time, Matlab/Simulink can also design and develop such as machine Robot application algorithms such as vision and motion control, realize rapid prototyping and integration of algorithms in ROS, and accelerate the design process and verification of complex algorithms for robots. Based on the communication mechanism of the ROS system, Matlab/Simulink can be used as a ROS master or a common node to realize the management and communication of nodes in ROS respectively. the

Required knowledge: ROS, Ubantu, Matlab, Simulink related knowledge.

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The first step: get ubantu address

Obtain the IP under the Ubantu system, open a terminal and enter ifconfig, which is slightly different from the ipconfig of windows, and then you can see the IP address of the virtual machine:

Step 2: Configure the Matlab environment

Open Matlab: enter setenv('ROS_MASTER_URI','http://192.168.153.130:11311') (the IP address of Ubuntu, you can see the same information after running the ROS master node), then enter rosinit, pay attention to the need before entering ronsinit Run roscore, otherwise you will not be able to connect to ROS.

The configuration in the Matlab environment is as follows:

​ Step 3: Run the Ros node

In this way, matlab and Ros will establish communication, and then run the turtle example for illustration:

First, we run the master node:roscore

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Then, open a new terminal and run the turtle node:$ rosrun turtlesim turtlesim_node

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Then, the shortcut key Ctrl+Alt+T runs a keyboard node to control the movement of the turtle:$ rosrun turtlesim turtle_teleop_key

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Immediately afterwards, place the mouse on the last opened new terminal, and press the up, down, left, and right arrows on the keyboard to control the movement of the turtle. In order to verify whether ROS and matlab can communicate, we open a new terminal and display a topic information

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Step 4: Run Matlab

Similarly, enter rostopic echo /turtle1/pose in the matlab command window at this time

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Then move the turtle, you can see that the terminal display on Ubantu is consistent with the Matlab command window display:

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Step 5: Configure simulink model and run

We open Simulink, create a new model in simulink, introduce the subscription (Subscirbe) module, and add Busselector to select the signal we want to observe.

Double-click the Subscribe module and select Configure network addresses:

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After the above configuration is done, change the simulink simulation time to inf, click Run, and control the movement of the turtle on ubantu, you can see that the pose of the turtle on ubantu is the same as that in simulink

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