Robotics System Toolbox (一)

Tuesday, September 11, 2018

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​Robotics system toolbox product description

https://ww2.mathworks.cn/help/robotics/gs/product-description.html

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

Map utilization, path planning, path following, and state estimation algorithms
Robot localization and environment mapping using lidar sensors
Rigid body tree kinematics and dynamics algorithms
Bidirectional communication with live ROS-enabled robots
rosbag data import, message extraction, and coordinate transformation
ROS node generation from Simulink models (with Simulink Coder™)

(1)　Get Started with ROS

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(https://ww2.mathworks.cn/help/robotics/examples/get-started-with-ros.html)

       This example introduces how to:

Set up ROS within MATLAB

Get information about capabilities in a ROS network

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.