Simulink의 ROS

Simulink^®를 사용하여 ROS 네트워크와 메시지에 액세스

ROS Toolbox를 사용하면 Simulink에서 ROS 및 ROS 2에 연결할 수 있으며 네트워크를 통해 메시지를 보낼 수 있습니다. Get Started with ROS in Simulink 항목을 참조하십시오.

타깃 시스템에 코드를 생성하고 배포할 수도 있습니다. 독립형 ROS 노드 생성에 대한 고급 예제는 Generate a Standalone ROS Node from Simulink 항목을 참조하십시오.

ROS 장치에 배포되어 사용할 수 있는 ROS 노드를 실행하거나 중지하거나 노드의 상태를 확인하려면 아래에 나열된 MATLAB^® 함수를 사용합니다. rosdevice를 사용하여 ROS 장치에 대한 연결을 만듭니다.

함수

`rosdevice`	Connect to remote ROS device
`runNode`	Start ROS or ROS 2 node
`stopNode`	Stop ROS or ROS 2 node
`runCore`	Start ROS core
`stopCore`	Stop ROS core
`isNodeRunning`	Determine if ROS or ROS 2 node is running
`isCoreRunning`	Determine if ROS core is running

Blank Message	지정된 메시지 유형을 사용해 빈 메시지 생성
Call Service	Call service in ROS network
Current Time	현재 ROS 시간 또는 시스템 시간 가져오기
Get Parameter	Get values from ROS parameter server
Header Assignment	Update fields of ROS message header
Publish	Send messages to ROS network
Read Data	Play back data from log file
Read Image	Extract image from ROS Image message
Read Scan	Extract scan data from ROS or ROS 2 laser scan message
Read Point Cloud	Extract point cloud from ROS PointCloud2 message
Set Parameter	Set values on ROS parameter server
Subscribe	Receive messages from ROS network
Write Image	Write image data to a ROS or ROS 2 message
Write Point Cloud	Write point cloud data to a ROS or ROS 2 message

ROS Simulink Support and Limitations
The ROS Toolbox does not support the following ROS features in Simulink:
Get Started with ROS in Simulink
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®
Configure Simulink to connect to a separate robot simulator using ROS and then send velocity commands, and receive position information from a simulated robot.
ROS Parameters in Simulink
Details for setting ROS parameters in Simulink.
Connect to ROS Device
Parameters for connecting to a ROS device.
ROS Simulink Interaction
Simulink and ROS Interaction Overview

Work with ROS Messages in Simulink
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.
Log ROS Messages from Simulink to a Rosbag Logfile
Save ROS message data from Simulink to a rosbag file.
Use ROS Logger App to Save ROS Messages from Simulink
Use ROS Logger app to record ROS messages during Simulink simulation.
Manage Array Sizes for ROS Messages in Simulink
Description of dialog box for managing array sizes in Simulink ROS

Generate a Standalone ROS Node from Simulink
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
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.

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.
Tune 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.