ROS Toolbox
Design, simulate, and deploy ROS-based applications
ROS Toolbox provides an interface connecting MATLAB® and Simulink® with the Robot Operating System (ROS and ROS 2), enabling you to create a network of ROS nodes. The toolbox includes MATLAB functions and Simulink blocks to import, analyze, and play back ROS data recorded in rosbag files. You can also connect to a live ROS network to access ROS messages.
The toolbox lets you verify ROS nodes via desktop simulation and by connecting to external robot simulators such as Gazebo. ROS Toolbox supports C++ code generation (with Simulink Coder™), enabling you to automatically generate ROS nodes from a Simulink model and deploy to simulated or physical hardware. Support for Simulink external mode lets you view messages and change parameters while your model is running on hardware.
Get Started:
ROS Network Connection
Connect to and explore ROS or ROS 2 networks. Use introspection to list available topics and types. View a detailed structure of ROS messages.
Connecting to a ROS network.
ROS Network Setup
Create and define your own ROS or ROS 2 network to communicate between different devices. Set up multiple ROS nodes to distribute tasks and information.
Example ROS 2 network.
Publishers and Subscribers
Send and receive ROS or ROS 2 messages using a topic with publish-subscribe semantics.
Simulink model for subscribing to sensor data and publishing wheel velocities.
Services and Actions
Use a client-server architecture to send requests, perform tasks, and get feedback in ROS applications.
Client-server interaction using ROS services and actions.
Parameter Server
Use ROS parameter servers to store configuration options for multiple nodes and enable the dynamic reconfiguration of nodes.
Simulink model that queries and sets ROS parameters to control vehicle gear selection.
ROS Log Files (rosbags)
Import rosbag files to filter, visualize, and analyze logged data.
Workflow for ROS data selection from rosbag files.
Built-in Messages
Use a library of supported ROS message packages for your ROS applications.
Example of supported ROS messages.
Custom Messages
Add new message types for your ROS or ROS 2 applications using custom message support.
Generating ROS 2 custom messages.
Node Generation in Simulink
Generate C++ code for standalone applications that use ROS or ROS 2 functionality.
Generating a standalone ROS 2 node from Simulink. Explore gallery (6 images)
Simulink model for controlling a robot running on a ROS-based simulator.
ROS Version Update
Use ROS Melodic Morenia distribution
Velodyne ROS Message Reader
Read Velodyne lidar messages from rosbag files
ROS Custom Messages add-on transition
Create custom messages from ROS package directly with rosgenmsg function
Network Connection and Exploration
Communicate with ROS and ROS 2 nodes in network with MATLAB® and Simulink®
Log File Playback
Import ROS log files (rosbags) to filter, visualize, and analyze logged data
Deployment of ROS Nodes
Deploy ROS and ROS 2 nodes to target hardware using Simulink Coder
See release notes for details on any of these features and corresponding functions.
