Matlab与ROS----turtlebot_gazebo

一、turtlebot_gazebo走圈
打开gazebo_turelebot

roslaunch turtlebot_gazebo turtlebot_world.launch

m文件：

while(1)
    velocity = 0.2;
    angular = 0.1;
    robot = rospublisher('/mobile_base/commands/velocity') ;
    velmsg = rosmessage(robot);
    velmsg.Linear.X = velocity;
    velmsg.Angular.Z = angular;
    send(robot,velmsg);
end

二、获取机器人3+4元素

while(1)
    velocity = 0.2;
    angular = 0.1;
    robot = rospublisher('/mobile_base/commands/velocity') ;
    velmsg = rosmessage(robot);
    velmsg.Linear.X = velocity;
    velmsg.Angular.Z = angular;
    send(robot,velmsg);
    odom = rossubscriber('/odom');
    odomdata = receive(odom);
    pose = odomdata.Pose.Pose;
    x = pose.Position.X;
    y = pose.Position.Y;
    z = pose.Position.Z;
    quat = pose.Orientation;
    angles = quat2eul([quat.W quat.X quat.Y quat.Z]);
    theta = rad2deg(angles(1));
    [x, y , z, theta]
end

三、获取机器人的传感器(kinect等)数据

imsub = rossubscriber('/camera/rgb/image_raw/compressed');
tic;
while toc < 20
    img = receive(imsub);
    imshow(readImage(img))
end

获取camera的图像。