ROS stand alone node

I created a ROS node in Simulink. It consumes several Topic like the lidar /scan and return information of control of the electric motors in the form of twist. My node is embedded on the turtlebot. When I embark the node, it works well the first time (ie just after compiling and loading the node on the turtlebot). But if I turn off the turtlebot and the next day I want to restart ... I have not found how to call a Matlab node created on previous sessions  I should create a launch file ? In the package, I have the CMakeList.txt and the package.xml In the files created by Matlab during the compilation, there is /devel/setup.bash ... but it is quasi empty ? when should I make a source of this file Does anyone have a clear process of how to do with ROS / Matlab to create a "standalone" node, especially on the reuse node / package one larger robot target? What we should do What to do to reuse a node. By describing the steps by steps what we should do. Thank you in advance

Answer 1

[Sebastian Castro]

You should be able to use rosdevice for this.

https://www.mathworks.com/help/robotics/ref/rosdevice-object.html

You can create a ROS device object and query the available autogenerated nodes as follows:

r = rosdevice;
r.AvailableNodes

If you have the name of the generated node, then you can say

runNode(r,'myNodeName');

- Sebastian

[Vincent Talon]

Sorry, maybe not was very clear. In my case, I try to restart the node ROS created with Matlab but without more use Matlab; I want to launch the ROS node in standalone on the Turtlebot without ever connecting to Matlab. It same, if I have create the node in Python or C++.

[Sebastian Castro]

Oh, I see! The generated nodes make it to the following folder:

CATKIN_WORKSPACE/devel/lib/MODELNAME/

Then, the executable will be in that folder, under the name MODELNAME_node.

- Sebastian