Simulink의 ROS 2

Simulink^®를 사용해 ROS 2 네트워크와 메시지에 액세스

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

타깃 시스템에 코드를 생성하고 배포할 수도 있습니다. 독립형 ROS 2 노드 생성에 대한 고급 예제는 Generate a Standalone ROS 2 Node from Simulink 항목을 참조하십시오.

ROS 2 장치에 배포되어 사용할 수 있는 ROS 2 노드를 실행하거나 중지하거나 노드의 상태를 확인하려면 아래에 나와 있는 MATLAB^® 함수를 사용합니다. ros2device를 사용하여 ROS 장치에 대한 연결을 만듭니다.

함수

`ros2device`	Connect to remote ROS 2 device
`runNode`	Start ROS or ROS 2 node
`stopNode`	Stop ROS or ROS 2 node
`isNodeRunning`	Determine if ROS or ROS 2 node is running

Blank Message	지정된 메시지 유형을 사용해 빈 ROS 2 메시지 생성
Call Service	Call service in ROS 2 network
Current Time	Retrieve current ROS 2 time or system time
Get Parameter	Get ROS 2 parameter value
Publish	Send messages to ROS 2 network
Read Data	Play back data from ROS 2 log file
Read Image	Extract image from ROS 2 `Image` message
Read Scan	Extract scan data from ROS or ROS 2 laser scan message
Read Point Cloud	Extract point cloud from ROS 2 `PointCloud2` message
Subscribe	Receive messages from ROS 2 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

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
This example shows you how to configure a Simulink model to send and receive information from a separate ROS-based simulator such as Gazebo® over ROS 2.

Work with ROS 2 Messages in Simulink
This example illustrates how to work with complex ROS 2 messages in Simulink®, such as messages with nested sub-messages and variable-length arrays.
Manage Array Sizes for ROS Messages in Simulink
Description of dialog box for managing array sizes in Simulink ROS

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.

Enable ROS 2 Time Model Stepping for Deployed Nodes
You can enable a deployed ROS 2 node to execute based on the time published on the /clock topic on a ROS 2 network.