MATLAB安装机器人工具箱 Matlab_Robotic_Toolbox_v10.2

Matlab_Robotic_Toolbox_v10.2
Matlab_Robotic_Toolbox工具箱与图书Robotics, Vision & Control配套，是 Peter Corke课题组开发与维护的一个用于机器人编程与仿真的工具箱（网站http://www.petercorke.com），常用于机器人建模、运动学和动力学解算。

安装教程：

1. **解压工具箱**，将Matlab_Robotic_Toolbox_v10.2.rar解压后，放在matlab的安装目录的toolbox文件夹里；
2. **设置路径**，用matlab的工具栏的setpath，将文件夹rvctools设置为matlab的搜索路径；
3. **安装工具箱**，在command window输入“startup_rvc”，安装工具箱；
4. **验证安装**，在command window输入“ver”，验证安装信息。

另外，MATLAB自带的工具箱[Robotics system toolbox](https://www.mathworks.com/help/robotics/index.html)，主要是关于机器人系统MATLAB/Simulink与ROS的接口，以及常用的机器人算法。

Robotics System Toolbox™ provides tools and algorithms for designing, simulating, and testing manipulators, mobile robots, and humanoid robots. For manipulators and humanoid robots, the toolbox includes algorithms for collision checking, trajectory generation, forward and inverse kinematics, and dynamics using a rigid body tree representation. For mobile robots, it includes algorithms for mapping, localization, path planning, path following, and motion control. The toolbox provides reference examples of common industrial robot applications. It also includes a library of commercially available industrial robot models that you can import, visualize, and simulate.

You can develop a functional robot prototype by combining the kinematic and dynamic models provided. The toolbox lets you co-simulate your robot applications by connecting directly to the Gazebo robotics simulator. To verify your design on hardware, you can connect to robotics platforms and generate and deploy code (with MATLAB Coder™ or Simulink Coder™).

Robotics System Toolbox基本命令：

 rosinit

rosinit

初始化ROS，默认在Matlab中创建ROS主节点并启动全局节点与主节点相连。

rosnode

rosnode
rosnode list nodelist = rosnode('list')	列出在ROS网络注册的所有节点
rosnode info nodename nodeinfo = rosnode('info',nodename)	返回一个结构体，该结构体包含指定节点nodename的名称、URI、发布者、订阅者、服务。
rosnode('ping',nodename)	与指定节点nodename进行通信测试并显示响应时间

 rostopic

rostopic
rostopic list topiclist = rostopic('list')	从ROS主机返回ROS主题列表
rostopic echo topicname msg = rostopic('echo',topicname)	从ROS主机返回有关指定主题 topicname的消息
rostopic info topicname topicinfo = rostopic('info',topicname)	返回指点主题topicname的消息类型、发布者、订阅者
rostopic type topicname msgtype = rostopic('type',topicname)	返回指定主题的消息类型

 rosservice

rosservice
rosservice list svclist = rosservice('list')	返回ROS网络中的活动服务器的服务名称列表
rosservice info svcname svcinfo = rosservice('info',svcname)	返回指定服务svcname的信息
rosservice type svcname svctype = rosservice('type',svcname)	返回服务类型
rosservice uri svcname svcuri = rosservice('uri',svcname)	返回服务的URI