Ubuntu ROS 和Windows Matlab联合通信

最新推荐文章于 2024-04-17 17:46:34 发布

恰雪&来故

最新推荐文章于 2024-04-17 17:46:34 发布

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文章标签： ubuntu

本文链接：https://blog.csdn.net/Z_ZY1314237/article/details/117790604

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Ubuntu ROS和Windows Matlab联合通信

实验室想用Matlab控制UR16e机器人，于是使用MATLAB与ROS进行联合通信。

连接

ubuntu查找本机ip地址

ifconfig

windows查找本机ip地址

ipconfig

ubuntu配置文件修改 .bashrc

export ROS_IP=172............(Ubuntu ip地址)
export ROS_MASTER_URI=http://172........(Ubuntu ip地址):11311

然后运行roscore

windows matlab初始化配置

setenv('ROS_MASTER_URI','http://172.......(Ubuntu ip地址):11311')
setenv('ROS_IP','172........(Windows ip地址)')
rosinit

测试

ubuntu打开小乌龟的测试示例

roscore #新开终端启动
rosrun turtlesim turtlesim_node #打开一个实例

在matlab上查看，用rostopic list 命令查看话题名称：

rostopic list

matlab控制ROS的测试代码

cmdpub = rospublisher('/turtle1/cmd_vel',rostype.geometry_msgs_Twist)
pause(3) % Wait to ensure publisher is setup
cmdmsg = rosmessage(cmdpub);
cmdmsg.Linear.X = 10;
cmdmsg.Angular.Z = 15; 
send(cmdpub,cmdmsg)
chatterpub = rospublisher('/chatter',rostype.std_msgs_String)
pause(3) % Wait to ensure publisher is setup
chattermsg = rosmessage(chatterpub);
chattermsg.Data = 'hello world'
send(chatterpub,chattermsg) 
pause(5)

Ubuntu单系统matlab与ROS通信

首先需要下载matlab得到linux版本

启动系统上的ROS

ifconfig #enp3s0 --看ip

sudo ~/.bashrc #修改文件

export ROS_IP=192******** #添加本机ip

roscore #新开终端启动

rosrun turtlesim turtlesim_node #打开一个实例

在MATLAB上启动

setenv('ROS_MASTER_URI','http://192.168.1.50:11311')  %这是本机的ip地址
setenv('ROS_IP','192.168.1.50')
rosinit
rostopic list
rostopic echo /turtle1/pose

在MATLAB上进行测试

cmdpub = rospublisher('/turtle1/cmd_vel',rostype.geometry_msgs_Twist)
pause(3) % Wait to ensure publisher is setup
cmdmsg = rosmessage(cmdpub);
cmdmsg.Linear.X = 10;
cmdmsg.Angular.Z = 15; 
send(cmdpub,cmdmsg)
chatterpub = rospublisher('/chatter',rostype.std_msgs_String)
pause(3) % Wait to ensure publisher is setup
chattermsg = rosmessage(chatterpub);
chattermsg.Data = 'hello world'
send(chatterpub,chattermsg)

本机的地址 192.168.1.105

Ubuntu地址 http://192.168.1.50:11311 ip：192.168.1.50

这是在使用UR16e进行关节角度复现的代码，主要是执行各时间序列的关节位移

%node = ros.Node('/jointControll');
jntTrajPub=rospublisher("/scaled_pos_joint_traj_controller/follow_joint_trajectory/goal","control_msgs/FollowJointTrajectoryActionGoal");
pause(3);
controlCmdMsg= rosmessage(jntTrajPub);
controlCmdMsg.Goal.Trajectory.JointNames={'shoulder_pan_joint'; 'shoulder_lift_joint'; 'elbow_joint'
                                                 'wrist_1_joint' ;'wrist_2_joint'; 'wrist_3_joint'};
file_t=fopen('afterTrain2.txt','r');
%舍去第一行的信息
jntMatrix=textscan(file_t,'%f,%f,%f,%f,%f,%f,%f','HeaderLines',1);
%将元胞数组转化为矩阵
jntMatrix=cell2mat(jntMatrix);
[rows,cols]=size(jntMatrix)
point=rosmessage("trajectory_msgs/JointTrajectoryPoint");
point.Positions=jntMatrix(1,2:cols);      %将第一组关节存入关节数组
duration = rosduration(8);   %得到运行时间，转化为ROS格式
point.TimeFromStart=duration;  
%controlCmdMsg.Goal.Trajectory.Header.Stamp=rostime('now');
controlCmdMsg.Goal.Trajectory.Points(1)=point;
send(jntTrajPub,controlCmdMsg);
pause(8);
for row=2:rows
    jntMatrix(row,2:cols);
    point.Positions=jntMatrix(row,2:cols);      %存入关节数组
    duration = rosduration(jntMatrix(row,1)-jntMatrix(row-1,1));   %得到运行时间，转化为ROS格式
    point.TimeFromStart=duration;   
%    controlCmdMsg.Goal.Trajectory.Header.Stamp=rostime('now');
    controlCmdMsg.Goal.Trajectory.Points(1)=point;
    send(jntTrajPub,controlCmdMsg);
    pause(jntMatrix(row,1)-jntMatrix(row-1,1));
end