ROS 2 네트워크 연결 및 탐색

ROS 2 네트워크 설정과 상호 작용

ROS 2에 연결하여 로보틱스 응용 프로그램 프로토타입을 만들고, ROS 네트워크를 통해 로보틱스 하드웨어 또는 로보틱스 시뮬레이터에 액세스합니다. MATLAB^®을 사용하여 자체 ROS 네트워크를 만들거나 기존 ROS 2 네트워크에 연결할 수 있습니다. ROS 2 네트워크를 설정하려면 먼저 ros2node 객체를 사용하여 ROS 2 노드를 생성합니다.

ros2param 객체와 객체 함수를 사용하여 ROS 2 파라미터에 액세스할 수 있습니다.

ros2rate 객체를 사용하여 코드 실행 타이밍을 제어할 수 있습니다.

함수

모두 확장

ROS 2

`ros2`	Retrieve information about ROS 2 network
`ros2message`	ROS 2 메시지 구조체 생성

ROS 2 시간

`ros2time`	Access ROS 2 time functionality
`ros2rate`	Execute loop at fixed frequency
`ros2duration`	Create a ROS 2 duration message

ROS 2 장치

`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

객체

모두 확장

ROS 2 노드

ros2node Create a ROS 2 node on the specified network

ROS 2 파라미터

ros2param Create object to access parameters from ROS 2 nodes

블록

Blank Message	지정된 메시지 유형을 사용해 빈 ROS 2 메시지 생성
Current Time	Retrieve current ROS 2 time or system time
Get Parameter	Get ROS 2 parameter value

추천 예제

Get Started with ROS 2

Robot Operating System 2 (ROS 2) is the second version of ROS, which is a communication interface that enables different parts of a robot system to discover, send, and receive data. MATLAB® support for ROS 2 is a library of functions that allows you to exchange data with ROS 2 enabled physical robots or robot simulators such as Gazebo®. ROS 2 is built on Data Distribution Service (DDS) which is an end-to-end middleware that provides features such as discovery, serialization and transportation. These features align with the design principles of ROS 2 such as distributed discovery and control over different "Quality of Service" options for transportation. DDS uses Real Time Publish-Subscribe (RTPS) protocol which provides communication over unreliable network protocols such as UDP. For more information, see RTPS.

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Connect to a ROS 2 Network

A ROS 2 network consists of a multiple ROS 2 nodes. Unlike ROS where the ROS master facilitates the communication by keeping track of all active ROS entities, ROS 2 is based on Data Distribution Standard (DDS) which is an end-to-end middleware that provides features such as discovery, serialization, and transportation. These features align with the design principles of ROS 2 such as distributed discovery and control over different "Quality of Service" options for transportation.

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Switching Between ROS Middleware Implementations

Switch between different ROS 2 middleware implementations in MATLAB® and Simulink®.

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Using ROS Bridge to Establish Communication Between ROS and ROS 2

ROS 2 is newer version of ROS with different architecture. Both the networks are separate and there is no direct communication between the nodes in ROS and ROS 2. The ros1_bridge package provides a network bridge which enables the exchange of messages between ROS and ROS 2. The bridge manages all the conversion required and sends messages across both the networks. For more information, see ros1_bridge. This example uses a virtual machine which may be downloaded by following the instructions in Gazebo 및 시뮬레이션된 TurtleBot 시작하기. The ros1_bridge package is installed on this virtual machine.

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Time Stamp a ROS 2 Message Using Current Time in Simulink

Time stamp a ROS 2 message with the current system time of your computer. Use the Current Time block and assign its output to the stamp field of a std_msgs/Header message. Publish the message on a desired topic.

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