Robotics System Toolbox (一)
Tuesday, September 11, 2018
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Robotics system toolbox product description
Design and test algorithms for robotics applications
Robotics System Toolbox™ provides algorithms and hardware connectivity for developing autonomous robotics applications for aerial and ground vehicles, manipulators, and humanoid robots. Toolbox algorithms include path planning and path following for differential drive robots, scan matching, obstacle avoidance, and state estimation. For manipulator robots, the system toolbox includes algorithms for inverse kinematics, kinematic constraints, and dynamics using a rigid body tree representation.
The system toolbox provides an interface between MATLAB® and Simulink® and the Robot Operating System (ROS) that enables you to test and verify applications on ROS-enabled robots and robot simulators such as Gazebo. It includes examples showing how to work with virtual robots in Gazebo and with actual ROS-enabled robots.
Robotics System Toolbox supports C++ code generation, enabling you to generate a ROS node from a Simulink model and automatically deploy it to a ROS network. Support for Simulink external mode lets you view signals and change parameters while your deployed model is running.
Key Features
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Map utilization, path planning, path following, and state estimation algorithms
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Robot localization and environment mapping using lidar sensors
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Rigid body tree kinematics and dynamics algorithms
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Bidirectional communication with live ROS-enabled robots
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rosbag data import, message extraction, and coordinate transformation
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ROS node generation from Simulink models (with Simulink Coder™)
(1) Get Started with ROS
(https://ww2.mathworks.cn/help/robotics/examples/get-started-with-ros.html)
This example introduces how to:
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Set up ROS within MATLAB
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Get information about capabilities in a ROS network
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Get information about ROS messages
Initialize ROS Network
1. rosinit 2. rosnode list 3. exampleHelperROSCreateSampleNetwork 4. rosnode list
5. rostopic list 6. rostopic info /pose 7. rosnode info /node_1 8. rosservice list
9. rosservice info /add 10. rostopic type /pose 11. rosmsg show geometry_msgs/Twist
12. rosmsg show geometry_msgs/Vector3 13. rosmsg list 14. exampleHelperROSShutDownSampleNetwork 15. rosshutdown
(2) Connect to a ROS Network
(https://ww2.mathworks.cn/help/robotics/examples/connect-to-a-ros-network.html)
rosinit('172.21.255.11') Cannot connect to ROS master at http://172.21.255.11:11311. Check the specified address or hostname.
rosinit('master_host') Cannot connect to ROS master at http://sancai-Lenovo-G400:11311. Check the specified address or hostname.
