Network Connection and Exploration

Set up and interact with ROS networks

Connect to ROS to prototype robotics applications and access robotics hardware or simulators over a ROS network. You can create your own ROS network using MATLAB^® or connect to an existing ROS network. To set up a ROS network, start by calling rosinit. For ROS 2 networks, see ros2node.

Functions

expand all

ROS Network Connection

`rosinit`	Connect to ROS network
`rostopic`	Retrieve information about ROS topics
`rosmsg`	Retrieve information about ROS messages and message types
`rosnode`	Retrieve information about ROS network nodes
`rosparam`	Access ROS parameter server values
`rosshutdown`	Shut down ROS system

ROS Parameter Tree

`get`	Get ROS parameter value
`has`	Check if ROS parameter name exists
`search`	Search ROS network for parameter names
`set`	Set value of ROS parameter or add new parameter
`del`	Delete a ROS parameter

ROS Nodes and Devices

`rosdevice`	Connect to remote ROS device
`runNode`	Start ROS or ROS 2 node
`stopNode`	Stop ROS or ROS 2 node
`runCore`	Start ROS core
`stopCore`	Stop ROS core
`isNodeRunning`	Determine if ROS or ROS 2 node is running
`isCoreRunning`	Determine if ROS core is running

ROS 2

`ros2`	Retrieve information about ROS 2 network
`ros2message`	Create ROS 2 message structures

ROS 2 Nodes and Devices

`ros2device`	Connect to remote ROS 2 device
`runNode`	Start ROS or ROS 2 node
`stopNode`	Stop ROS or ROS 2 node
`isNodeRunning`	Determine if ROS or ROS 2 node is running

Objects

expand all

ROS

`Core`	Create ROS Core
`Node`	Start ROS node and connect to ROS master
`ParameterTree`	Access ROS parameter server

ROS 2 Nodes

ros2node Create a ROS 2 node on the specified network

Blocks

expand all

ROS

Blank Message	Create blank message using specified message type
Current Time	Retrieve current ROS time or system time
Set Parameter	Set values on ROS parameter server

ROS 2

Blank Message

Create blank ROS 2 message using specified message type

Topics

ROS

Get Started with ROS

Robot Operating System (ROS) is a communication interface that enables different parts of a robot system to discover each other, and send and receive data between them.

Connect to a ROS Network

A ROS network consists of a single ROS master and multiple ROS nodes.

Access the ROS Parameter Server

This example explores how to add and retrieve parameters on the ROS parameter server.

ROS Network Setup

Summary of ROS network setup and information required for connection.

ROS 2

Get Started with ROS 2

Robot Operating System 2 (ROS 2) is the second version of ROS, which is a communication interface that enables different parts of a robot system to discover, send, and receive data.

Connect to a ROS 2 Network

A ROS 2 network consists of a multiple ROS 2 nodes.

Using ROS Bridge to Establish Communication Between ROS and ROS 2

ROS 2 is newer version of ROS with different architecture.