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). With the toolbox, you can design a network of ROS nodes and combine MATLAB or Simulink generated ROS nodes with your existing ROS network.

The toolbox includes MATLAB functions and Simulink blocks to visualize and analyze ROS data by recording, importing, and playing back 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 or to hardware. ROS Toolbox supports C++ and CUDA^® code generation (with MATLAB Coder, Simulink Coder, and GPU Coder), enabling you to automatically generate ROS nodes from a MATLAB script or 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.

What Is ROS Toolbox?

ROS and ROS 2 Networks

Connect to existing ROS or ROS 2 networks to prototype ROS-based applications. Design a network of ROS nodes for desktop simulation. Communicate with hardware using ROS messaging in MATLAB and Simulink.

ROS Tutorials

ROS: Documentation | Examples
ROS2: Documentation | Examples

Communicate Within a ROS Network by Passing Messages via Topics in Simulink

Communication and Messaging

Send and receive ROS messages with publish-subscribe semantics. Use a client-server architecture to send requests, perform tasks, and receive feedback. Configure ROS nodes dynamically with ROS parameter servers.

Programming Robots with ROS and ROS2 using MATLAB and Simulink Video (36:00)

ROS: Documentation | Examples
ROS2: Documentation | Examples

Custom Messages

Create custom message definitions and use them to transmit information. Use your custom messages with publishers, subscribers, actions, and services. View, plot, and log custom message contents directly in MATLAB. Use ROS specialized messages to create and access sensor and data types using specific ROS and ROS 2 message types.

Documentation | Examples

The Rosbag Viewer app showing six viewers in use to visualize different ROS messages simultaneously.

Rosbag Visualization

Use the ROS Bag Viewer app to playback and visualize multiple messages in a rosbag file simultaneously from MATLAB. Use the rosbag command line interface to write logs or to access, filter, visualize, and analyze logged data. Use rosbag files for simulation in MATLAB and Simulink.

Use ROS Logger App to Save ROS Messages from Simulink

Documentation | Examples

Node Deployment

Generate C++ code and deploy it to local or remote device targets as standalone ROS and ROS 2 nodes. Use CUDA-compatible ROS node generation to accelerate ROS-based AI applications. Generate C++ code for real-time ros_control plugins from controllers designed in Simulink.

Automated ROS and ROS 2 Node Generation from Prototyping to Production Video (43:57)

ROS: Documentation | Examples
ROS2: Documentation | Examples

Control an Ego Vehicle in the CARLA Simulator Using Simulink and CARLA ROS Bridge

Application Examples

Use reference application examples for ground robots, robot manipulators, UAVs, and autonomous vehicles to jumpstart the design, simulation, and deployment of your ROS-based systems.

Sign Following Robot with Time Synchronization Using ROS and Gazebo Co-Simulation

Documentation | Examples