一、通信
ROS系统终端输入
roscore
ifconfig #获取ip
rosrun turtlesim turtlesim_node
matlab端
rosinit('ip')
乌龟走圈
cmdpub = rospublisher('/turtle1/cmd_vel',rostype.geometry_msgs_Twist);
pause(1)% Wait to ensure publisher is setup
cmdmsg = rosmessage(cmdpub);
while(1)
cmdmsg.Linear.X = 2;
cmdmsg.Angular.Z = 1;
send(cmdpub,cmdmsg)
end