Simulink 内の ROS
Simulink® を使用して ROS のネットワークおよびメッセージにアクセスする
ROS Toolbox を使用して、ROS および ROS 2 に Simulink 内で接続し、ネットワーク経由でメッセージを送信できます。Get Started with ROS in Simulinkを参照してください。
また、コードを生成してターゲット システムに展開することもできます。スタンドアロンの ROS ノードの作成に関する高度な例については、Generate a Standalone ROS Node from Simulinkを参照してください。
ROS デバイス上で使用可能な展開済みの ROS ノードの実行、停止、またはステータス チェックを行うには、リストにある MATLAB® 関数を使用します。rosdevice
を使用して ROS デバイスへの接続を作成します。
関数
ブロック
トピック
ROS ネットワーク
- ROS Simulink Support and Limitations
The ROS Toolbox does not support the following ROS features in Simulink: - Get Started with ROS in Simulink
This example shows how to use Simulink® blocks for ROS to send and receive messages from a local ROS network. - ROS ネットワーク アドレスの構成
[ROS ネットワーク アドレスの構成] ダイアログ - Connect to a ROS-enabled Robot from Simulink®
You can use Simulink to connect to a ROS-enabled physical robot or to a ROS-enabled robot simulator such as Gazebo. This example shows how to configure Simulink to connect to a separate robot simulator using ROS. It then shows how to send velocity commands and receive position information from a simulated robot. - ROS Parameters in Simulink
Details for setting ROS parameters in Simulink. - Connect to ROS Device
Parameters for connecting to a ROS device. - ROS Simulink Interaction
Simulink and ROS Interaction Overview
ROS メッセージ
- Work with ROS Messages in Simulink
This example illustrates how to work with complex ROS messages in Simulink, such as messages with nested sub-messages and variable-length arrays. - ROS のトピック、メッセージ、パラメーターの選択
ROS のトピックとメッセージを選択するためのダイアログ ボックスの説明。 - Log ROS Messages from Simulink to a Rosbag Logfile
Save ROS message data from Simulink to a rosbag file. - Use ROS Logger App to Save ROS Messages from Simulink
Use ROS Logger app to record ROS messages during Simulink® simulation, and obtain a rosbag file with fully synchronized ROS messages saved during simulation. - Simulink での ROS メッセージの配列サイズの管理
Simulink で ROS の配列サイズを管理するためのダイアログ ボックスの説明
ROS アプリケーション
- Generate a Standalone ROS Node from Simulink
This example shows you how to generate and build a standalone ROS node from a Simulink® model. - Feedback Control of a ROS-Enabled Robot
Use Simulink® to control a simulated robot running in a separate ROS-based simulator. - Sign Following Robot with ROS in Simulink
This example shows how to use Simulink® to control a simulated robot running on a separate ROS-based simulator. - Automated Parking Valet with ROS in Simulink
Distribute an automated parking valet application among various nodes in a ROS network in Simulink®. This example extends the Automated Parking Valet (Automated Driving Toolbox) example in the Automated Driving Toolbox™. Using the Simulink model in the Automated Parking Valet in Simulink example, tune the planner, controller and vehicle dynamics parameters before partitioning the model into ROS nodes. - Generate Code to Manually Deploy a ROS Node from Simulink
This example shows you how to generate C++ code from a Simulink model to deploy as a standalone ROS node. The code is generated on your computer and must be manually transferred to the target ROS device. No connection to the hardware is necessary for generated the code. For an automated deployment of a ROS node, see Generate a Standalone ROS Node from Simulink.
モデルの実行
- Enable External Mode for ROS Toolbox Models
External mode enables Simulink on your host computer to communicate with a deployed model on your robotics hardware during runtime. External mode allows you to tune block mask parameters and to visualize signals on your model while your model is running. For ROS Toolbox, deployed models are ROS nodes running on the target hardware that communicates with Simulink over TCP/IP. - Enable ROS Time Model Stepping for Deployed ROS Nodes
You can enable a deployed ROS node to execute based on the time published on the/clock
topic on a ROS network. To deploy a ROS node from Simulink, see Generate a Standalone ROS Node from Simulink. - Tune Parameters and View Signals on Deployed Robot Models Using External Mode
External mode enables Simulink models on your host computer to communicate with a deployed model on your robot hardware during runtime. Use external mode to view signals or modify block mask parameters on your deployed Simulink model. Parameter tuning with external mode helps you make adjustments to your algorithms as they run on the hardware as opposed to in simulation in Simulink itself. This example shows how to use external mode with the Feedback Control of a ROS-Enabled Robot example when the model is deployed to the robot hardware. - Overrun Detection with Deployed ROS Nodes
You can enable overrun detection for a deployed ROS node. To deploy a ROS node from Simulink, see Generate a Standalone ROS Node from Simulink.