Matlab协助调试ROS程序： matlab2015b + ros indigo
你是否一直纠结ros程序的单步调试呢？你是否一直纠结ros中的具体数据流呢？虽然单个ros Node 也可以进行单步调试，但多节点，roslaunch时就抓瞎了，
你是否也纠结ros是否也该将数据分析的可视化工具丰富下？ 不要纠结，试试matlab 与ros 协调吧， 虽然也不是那么完美， 但ros的平台运行加上matlab强大的
数据处理，可视化绘图相结合，只要你充分合理的使用，相应一定能助你一臂之力。
一年前就听说matlab 有支持ros了，一直搁置没去实际尝试。最近由于调试ros程序需要，感觉matlab可以让我查看算法过程中的数据，与可视化的数据分
析更加方便，便开始了尝试。简单记录写下这篇入门指导。
一 . 入门级官方指导资料
ROS wiki http://wiki.ros.org/
matlab: Robotics System Toolbox : ROS http://cn.mathworks.com/help/robotics/robot-operating-system-ros.html
Document http://cn.mathworks.com/help/robotics/functionlist.html#buog82z
说明： matlab 只有在2015b的版本及以上才带机器人工具箱和ROS 。 软件请自行网上搜索（windows/mac/unix都有）
安装参考 ubuntu14.04 matlab2015 64bits
二. 简单使用说明
起始你按照matlab的指导一步步来就OK了。现就简单提提自己对理解上变化大点的谈下自己的感受。
1. 启动master的问题
直接在matlab终端输入：
>> rosinit
The value of the ROS_MASTER_URI environment variable, http://localhost:11311, will be used to connect to the ROS master.
Initializing ROS master on http://yhzhao:11311/.
Initializing global node /matlab_global_node_60577 with NodeURI http://yhzhao:36745/
它会启动一个master与一个global node . 这时如果你在ubuntu的终端启动roscore 就会有问题。提示已经有一个master启动了。
>> rostopic list
/rosout
如果你是在ubuntu终端先启动roscore ，再在matlab 终端启动rosinit. 就会连接rosmaster，并新创建一个global node.
>> rosinit
The value of the ROS_MASTER_URI environment variable, http://localhost:11311, will be used to connect to the ROS master.
Initializing global node /matlab_global_node_21319 with NodeURI http://yhzhao:56287/
若不在同一个IP。 可以分布式启动新节点，连接 master ip为10.0.253.95 。
>> rosinit('10.0.253.95')
Initializing global node /matlab_global_node_42437 with NodeURI http://10.0.253.95:52610/
2. 关闭master的问题
rosshutdown
3. 读取消息的简单操作：拿gazebo仿真来看。
3.1 ubuntu终端启动roscore 与gazebo
roslaunch turtlebot_gazebo gmapping_world.launch
3.2 在matlab 中启动ros
>> rosinit
The value of the ROS_MASTER_URI environment variable, http://localhost:11311, will be used to connect to the ROS master.
Initializing global node /matlab_global_node_26095 with NodeURI http://yhzhao:45774/
3.3 利用matlab 查看 topic的信息。
>>rostopic list
/clock
/cmd_vel_mux/active
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/depthimage_to_laserscan/parameter_descriptions
/depthimage_to_laserscan/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/laserscan_nodelet_manager/bond
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/velocity
/mobile_base/events/bumper
/mobile_base/events/cliff
/mobile_base/sensors/bumper_pointcloud
/mobile_base/sensors/core
/mobile_base/sensors/imu_data
/mobile_base_nodelet_manager/bond
/odom
/rosout
/rosout_agg
/scan
/tf
/tf_static
3.4 利用matlab 订阅topic 并用matlab显示
>> sub = rossubscriber('scan') %订阅
sub =
Subscriber with properties:
TopicName: '/scan'
MessageType: 'sensor_msgs/LaserScan'
LatestMessage: [0x1 LaserScan]
BufferSize: 1
NewMessageFcn: []
>> msg = receive(sub) %接收
msg =
ROS LaserScan message with properties:
MessageType: 'sensor_msgs/LaserScan'
Header: [1x1 Header]
AngleMin: -3.1416
AngleMax: 3.1416
AngleIncrement: 0.0175
TimeIncrement: 0
ScanTime: 0
RangeMin: 0.1000
RangeMax: 6
Ranges: [360x1 single]
Intensities: [360x1 single]
3.5 matlab 显示 laser
>> plot(msg)
3.6 以后像costMap 可以曲面的方式显示。
3.7 …… 还有很多等你去开发
4. 指令性操作指令与函数式操作
拿topic举个栗子。
rostopic list rostopic echo topicname rostopic info topicname rostopic type topicname
topiclist = rostopic('list')
msg = rostopic('echo', topicname)
topicinfo = rostopic('info', topicname)
msgtype = rostopic('type', topicname)
5. 数据结构对应 matlab 的数据结构操作与 cell的操作。
>> msg.RangeMax
ans =
6
cell操作见bag。
6. rosbag数据读取感觉很必要，matlab单帧读bag成为了可能。 单帧运行对应这单步调试啊。
bag = rosbag(filename)
scanSelect = selesct(bag,'topic','/scan')
scanVector = readMessages(scanSelect)
scanData = scanVector{1,1}.RangeMax % cell 操作
想想以后可以matlab 自己写程序跑rosbag包，是不是爽一些。
7. matlab中你启动的节点与master， 不用时是要手动敲指令清理关闭的。
三. 其它强大功能的应用参看相应的函数说明。
你也赶紧去尝试下吧。
基本命令函数
Network Connection and Exploration
| rosinit | Connect to ROS network |
| rosmsg | Retrieve information about ROS messages and message types |
| rosnode | Retrieve information about ROS network nodes |
| rosparam | Access ROS parameter server values |
| rosservice | Retrieve information about services in ROS network |
| rosshutdown | Shut down ROS system |
| rostopic | Retrieve information about ROS topics |
| get | Get ROS parameter value |
| has | Check if ROS parameter name exists |
| search | Search ROS network for parameter names |
| set | Set value of ROS parameter; add new parameter |
| del | Delete a ROS parameter |
| Using Core Objects | Create ROS Core |
| Using Node Objects | Start ROS node and connect to ROS master |
| Using ParameterTree Objects | Access ROS parameter server |
Publishers, Subscribers, and Services
| rosmessage | Create ROS messages |
| rosmsg | Retrieve information about ROS messages and message types |
| definition | Retrieve definition of ROS message type |
| showdetails | Display all ROS message contents |
| rostopic | Retrieve information about ROS topics |
| rostype | Access available ROS message types |
| rospublisher | Publish messages on a topic |
| rossubscriber | Subscribe to messages on a topic |
| receive | Wait for new ROS message |
| send | Publish ROS message to topic |
| call | Call the ROS service server and receive a response |
| rosservice | Retrieve information about services in ROS network |
| rossvcclient | Create ROS service client |
| rossvcserver | Create ROS service server |
| Using Publisher Objects | Create ROS publisher |
| Using Subscriber Objects | Create a ROS subscriber |
| Using ServiceServer Objects | Create ROS service server |
| Using ServiceClient Objects | Connect to ROS service server |
| robotics.Rate | Execute loop at fixed frequency |
Log Files and Transformations
| rosbag | Open and parse rosbag log file |
| readMessages | Read messages from rosbag |
| select | Select subset of messages in rosbag |
| timeseries | Creates a time series object for selected message properties |
| rostime | Access ROS time functionality |
| rostf | Access ROS transformations |
| apply | Transform message entities into target frame |
| transform | Transform message entities into target coordinate frame |
| waitForTransform | Wait until a transformation is available |
| getTransform | Retrieve the transformation between two coordinate frames |
| sendTransform | Send transformation to ROS network |
| Using BagSelection Objects | Create rosbag selection |
| Using TransformationTree Objects | Receive, send, and apply ROS transformations |
| Using TransformStamped Objects | Create transformation message |
Specialized Messages
| readBinaryOccupancyGrid | Read binary occupancy grid |
| writeBinaryOccupancyGrid | Write values from grid to ROS message |
| readImage | Convert ROS image data into MATLAB image |
| writeImage | Write MATLAB image to ROS image message |
| readCartesian | Read laser scan ranges in Cartesian coordinates |
| readScanAngles | Return scan angles for laser scan range readings |
| plot | Display ROS laser scan messages on custom plot |
| readXYZ | Extract XYZ coordinates from point cloud data |
| readRGB | Extract RGB values from point cloud data |
| readAllFieldNames | Get all available field names from ROS point cloud |
| readField | Read point cloud data based on field name |
| scatter3 | Display point cloud in scatter plot |
| Using CompressedImage Objects | Create compressed image message |
| Using Image Objects | Create image message |
| Using LaserScan Objects | Create laser scan message |
| Using OccupancyGrid Objects | Create occupancy grid message |
| Using PointCloud2 Objects | Access point cloud messages |
Custom Message Support
| roboticsAddons | Install add-ons for robotics |
| rosgenmsg | Generate custom messages from ROS definitions |
参考： http://cn.mathworks.com/help/robotics/functionlist.html#buog82z
http://cn.mathworks.com/help/robotics/robot-operating-system-ros.html
