matlab2015b的ros工具包,Matlab协助调试ROS程序： matlab2015b + ros indigo

你是否一直纠结ros程序的单步调试呢？你是否一直纠结ros中的具体数据流呢？虽然单个ros Node 也可以进行单步调试，但多节点，roslaunch时就抓瞎了，

你是否也纠结ros是否也该将数据分析的可视化工具丰富下？  不要纠结，试试matlab 与ros 协调吧， 虽然也不是那么完美， 但ros的平台运行加上matlab强大的

数据处理，可视化绘图相结合，只要你充分合理的使用，相应一定能助你一臂之力。

一年前就听说matlab 有支持ros了，一直搁置没去实际尝试。最近由于调试ros程序需要，感觉matlab可以让我查看算法过程中的数据，与可视化的数据分

析更加方便，便开始了尝试。简单记录写下这篇入门指导。

一 . 入门级官方指导资料

ROS wiki   http://wiki.ros.org/

matlab:Robotics System Toolbox : ROS        http://cn.mathworks.com/help/robotics/robot-operating-system-ros.html

Document          http://cn.mathworks.com/help/robotics/functionlist.html#buog82z

说明： matlab 只有在2015b的版本及以上才带机器人工具箱和ROS 。 软件请自行网上搜索(windows/mac/unix都有)

二. 简单使用说明

起始你按照matlab的指导一步步来就OK了。现就简单提提自己对理解上变化大点的谈下自己的感受。

1.  启动master的问题

直接在matlab终端输入：

>> rosinit

The value of the ROS_MASTER_URI environment variable, http://localhost:11311, will be used to connect to the ROS master.

Initializing ROS master on http://yhzhao:11311/.

Initializing global node /matlab_global_node_60577 with NodeURI http://yhzhao:36745/

它会启动一个master与一个global node . 这时如果你在ubuntu的终端启动roscore 就会有问题。提示已经有一个master启动了。

>> rostopic list

/rosout

如果你是在ubuntu终端先启动roscore ，再在matlab 终端启动rosinit. 就会连接rosmaster，并新创建一个global node.

>> rosinit

The value of the ROS_MASTER_URI environment variable, http://localhost:11311, will be used to connect to the ROS master.

Initializing global node /matlab_global_node_21319 with NodeURI http://yhzhao:56287/

若不在同一个IP。 可以分布式启动新节点，连接 master ip为10.0.253.95 。

>> rosinit('10.0.253.95')

Initializing global node /matlab_global_node_42437 with NodeURI http://10.0.253.95:52610/

2.  关闭master的问题

rosshutdown

3. 读取消息的简单操作：拿gazebo仿真来看。

3.1 ubuntu终端启动roscore 与gazebo

roslaunch turtlebot_gazebo gmapping_world.launch

3.2 在matlab 中启动ros

>> rosinit

The value of the ROS_MASTER_URI environment variable, http://localhost:11311, will be used to connect to the ROS master.

Initializing global node /matlab_global_node_26095 with NodeURI http://yhzhao:45774/

3.3 利用matlab 查看 topic的信息。

>>rostopic list

/clock

/cmd_vel_mux/active

/cmd_vel_mux/input/navi

/cmd_vel_mux/input/safety_controller

/cmd_vel_mux/input/teleop

/cmd_vel_mux/parameter_descriptions

/cmd_vel_mux/parameter_updates

/depthimage_to_laserscan/parameter_descriptions

/depthimage_to_laserscan/parameter_updates

/gazebo/link_states

/gazebo/model_states

/gazebo/parameter_descriptions

/gazebo/parameter_updates

/gazebo/set_link_state

/gazebo/set_model_state

/joint_states

/laserscan_nodelet_manager/bond

/mobile_base/commands/motor_power

/mobile_base/commands/reset_odometry

/mobile_base/commands/velocity

/mobile_base/events/bumper

/mobile_base/events/cliff

/mobile_base/sensors/bumper_pointcloud

/mobile_base/sensors/core

/mobile_base/sensors/imu_data

/mobile_base_nodelet_manager/bond

/odom

/rosout

/rosout_agg

/scan

/tf

/tf_static

3.4 利用matlab 订阅topic 并用matlab显示

>> sub = rossubscriber('scan') %订阅

sub =

Subscriber with properties:

TopicName: '/scan'

MessageType: 'sensor_msgs/LaserScan'

LatestMessage: [0x1 LaserScan]

BufferSize: 1

NewMessageFcn: []

>> msg = receive(sub) %接收

msg =

ROS LaserScan message with properties:

MessageType: 'sensor_msgs/LaserScan'

Header: [1x1 Header]

AngleMin: -3.1416

AngleMax: 3.1416

AngleIncrement: 0.0175

TimeIncrement: 0

ScanTime: 0

RangeMin: 0.1000

RangeMax: 6

Ranges: [360x1 single]

Intensities: [360x1 single]

3.5 matlab 显示 laser

>> plot(msg)

3.6  以后像costMap 可以曲面的方式显示。

3.7  …… 还有很多等你去开发

4. 指令性操作指令与函数式操作

拿topic举个栗子。

rostopic list

rostopic echo topicname

rostopic info topicname

rostopic type topicname

topiclist = rostopic('list')

msg = rostopic('echo', topicname)

topicinfo = rostopic('info', topicname)

msgtype = rostopic('type', topicname)

5.  数据结构对应 matlab 的数据结构操作与 cell的操作。

>> msg.RangeMax

ans =

6

cell操作见bag。

6. rosbag数据读取感觉很必要，matlab单帧读bag成为了可能。 单帧运行对应这单步调试啊。

bag = rosbag(filename)

scanSelect = selesct(bag,'topic','/scan')

scanVector = readMessages(scanSelect)

scanData = scanVector{1,1}.RangeMax % cell 操作

想想以后可以matlab 自己写程序跑rosbag包，是不是爽一些。

7. matlab中你启动的节点与master， 不用时是要手动敲指令清理关闭的。

三. 其它强大功能的应用参看相应的函数说明。

你也赶紧去尝试下吧。

基本命令函数

Network Connection and Exploration

Connect to ROS network

Retrieve information about ROS messages and message types

Retrieve information about ROS network nodes

Access ROS parameter server values

Retrieve information about services in ROS network

Shut down ROS system

Retrieve information about ROS topics

Get ROS parameter value

Check if ROS parameter name exists

Search ROS network for parameter names

Set value of ROS parameter; add new parameter

Delete a ROS parameter

Start ROS node and connect to ROS master

Access ROS parameter server

Publishers, Subscribers, and Services

Create ROS messages

Retrieve information about ROS messages and message types

Retrieve definition of ROS message type

Display all ROS message contents

Retrieve information about ROS topics

Access available ROS message types

Publish messages on a topic

Subscribe to messages on a topic

Wait for new ROS message

Publish ROS message to topic

Call the ROS service server and receive a response

Retrieve information about services in ROS network

Create ROS service client

Create ROS service server

Connect to ROS service server

Execute loop at fixed frequency

Log Files and Transformations

Open and parse rosbag log file

Read messages from rosbag

Select subset of messages in rosbag

Creates a time series object for selected message properties

Access ROS time functionality

Access ROS transformations

Transform message entities into target frame

Transform message entities into target coordinate frame

Wait until a transformation is available

Retrieve the transformation between two coordinate frames

Send transformation to ROS network

Receive, send, and apply ROS transformations

Specialized Messages

Read binary occupancy grid

Write values from grid to ROS message

Convert ROS image data into MATLAB image

Write MATLAB image to ROS image message

Read laser scan ranges in Cartesian coordinates

Return scan angles for laser scan range readings

Display ROS laser scan messages on custom plot

Extract XYZ coordinates from point cloud data

Extract RGB values from point cloud data

Get all available field names from ROS point cloud

Read point cloud data based on field name

Display point cloud in scatter plot

Create compressed image message

Create image message

Create laser scan message

Create occupancy grid message

Access point cloud messages

Custom Message Support

Install add-ons for robotics

Generate custom messages from ROS definitions

参考： http://cn.mathworks.com/help/robotics/functionlist.html#buog82z

http://cn.mathworks.com/help/robotics/robot-operating-system-ros.html