1、通过MATLAB控制ROS中的简单机器人运动。
参考:https://blog.csdn.net/mountzf/article/details/51712459
具体操作:1)打开虚拟机---打开一个终端---输入:roscore;运行turtle的简单例子:rosrun turtlesim turtlesim_node
2)MATLAB端,为避免有rosmaster运行,先输入:rosshutdown,在输入:rosinit('192.168.244.129') %虚拟机IP,在虚拟机终端输入:ifconfig可查。
3)MATLAB中查看rostopic list(输入rostopic list即可),查看topic数据类型等信息如:rostopic info /turtle1/cmd_vel
4)MATLAB代码控制虚拟机机器人运动:(直接在MATLAB命令窗口复制粘贴运行)
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)
5)改变了几次cmdmsg.Linear.X = 10; 和cmdmsg.Angular.Z = 15;的数值结果如下
2、为了直接使用mathwork官网介绍的案例,尽量保证与其一直性,在官网下载了对应的文件。
主要的安装步骤:Windows版本,因为官网推荐的是用VMware®Player,但我已经安装了VMware®workstation,所以可以不要这一步。俩者的区别就是兄弟关系,VMware®Player占用空间小,不用重启系统等。所以在装了VMware®workstation直接在第二步,点击archive,下载ROS Indigo Gazebo v3并解压。打开VMware®workstation----选择打开虚拟机---到解压ROS Indigo Gazebo v3的目录下----选择ros_indigo_gazebo_v3.vmx----确定---如果打开一个窗口询问您是否复制或移动了虚拟机,请按复制它即可。
以下步骤为在VMware®Player中安装的步骤。
1)下载并安装VMware®Player软件(许可证---可选)
2) 下载包含虚拟机的存档:Download the archive containing the virtual machine
3) 将存档解压缩到硬盘驱动器上的某个位置
4)启动VMware Player
5) 在VMware Player中,按“打开虚拟机”
6)浏览到Ubuntu图像的位置,选择ROS Indigo Gazebo v3并按OK
7)现在,虚拟机已添加到您的库中
8) 在VMware Player中,启动虚拟机
9)如果打开一个窗口询问您是否复制或移动了虚拟机,请按复制它
3、使用:
1)双击打开gazebo turtlebot world。
2)下载案例:
简单使用:打开gazeboExampleMATLAB.m,修改ip为虚拟机的IP:192.168.244.130
代码:运行
%% Object Detection Example: Gazebo
% Copyright 2017 The MathWorks, Inc.
%% SETUP
% Connect to ROS master
rosshutdown;
gazeboIp = '192.168.244.130';
rosinit(gazeboIp);
% Create ROS subscribers and publishers
imgSub = rossubscriber('/camera/rgb/image_raw');
receive(imgSub,10); % Wait to receive first message
[velPub,velMsg] = rospublisher('/mobile_base/commands/velocity');
% Create video player for visualization
vidPlayer = vision.DeployableVideoPlayer;
% Load control parameters
params = controlParamsGazebo;
%% LOOP
while(1)
%% SENSE
% Grab images
img = readImage(imgSub.LatestMessage);
%% PROCESS
% Object detection algorithm
resizeScale = 0.5;
[centerX,centerY,circleSize] = detectCircle(img,resizeScale);
% Object tracking algorithm
[v,w] = trackCircle(centerX,circleSize,size(img,2),params);
%% CONTROL
% Package ROS message and send to the robot
velMsg.Linear.X = v;
velMsg.Angular.Z = w;
send(velPub,velMsg);
%% VISUALIZE
% Annotate image and update the video player
img = insertShape(img,'Circle',[centerX centerY circleSize/2],'LineWidth',2);
step(vidPlayer,img);
end
结果:
参考:https://blogs.mathworks.com/racing-lounge/2017/11/08/matlab-simulink-ros/
https://www.mathworks.com/help/robotics/examples/test-autonomy-in-simulation.html?s_tid=blogs_rc_6
https://www.mathworks.com/help/robotics/examples/communicate-with-the-turtlebot.html
https://www.mathworks.com/help/robotics/examples.html