Robotics System Toolbox™ enables you to communicate over ROS networks with ROS messages. You can publish or subscribe to specific ROS message topics, access transformations, or set server parameter information. To send and receive messages, see Exchange Data with ROS Publishers and Subscribers.
Specific sensors, including laser scans and point clouds, have ROS messages that can be converted to MATLAB® data types for analysis. See Work with Specialized ROS Messages for an overview of specific sensor message types.
|Connect to ROS network|
|Retrieve information about ROS topics|
|Retrieve information about ROS messages and message types|
|Create ROS messages|
|Publish message on a topic|
|Subscribe to messages on a topic|
|Access ROS parameter server values|
|Execute loop at fixed frequency|
|Transform message entities into target coordinate frame|
|Wait until a transformation is available|
|Retrieve transformation between two coordinate frames|
|Send transformation to ROS network|
|Receive, send, and apply ROS transformations|
|Transform message entities into target frame|
|Create object for storing 2-D lidar scan|
|Display laser or lidar scan readings|
|Remove invalid range and angle data|
|Read laser scan ranges in Cartesian coordinates|
|Return scan angles for laser scan range readings|
|Transform laser scan based on relative pose|
The primary mechanism for ROS nodes to exchange data is to send and receive messages.
Messages are the primary container for exchanging data in ROS.
List of supported message types in MATLAB ROS.
Some commonly used ROS messages store data in a format that requires some transformation before it can be used for further processing.
Transform laser scan data using a ROS transformation tree.
robotics.Rate object or the
rosrate function allows you to time iterations of your robotics applications.
Summary of the structure of rosbags and the workflow for selecting subsets of messages in a rosbag.
A rosbag or bag is a file format in ROS for storing message data.