running = isNodeRunning(device,modelName)
determines if the ROS or ROS 2 node associated with the
specified Simulink® model is running on the specified rosdevice or
ros2device,
device.
Connect to a remote ROS device and start a ROS node. Run a ROS core so that ROS nodes can communicate via a ROS network. You can run and stop a ROS core or node and check their status using a rosdevice object.
Create a connection to a ROS device. Specify the address, user name, and password of your specific ROS device. The device already contains the available ROS nodes that can be run using runNode.
d =
rosdevice with properties:
DeviceAddress: '192.168.203.129'
Username: 'user'
ROSFolder: '/opt/ros/indigo'
CatkinWorkspace: '~/catkin_ws_test'
AvailableNodes: {'robotcontroller' 'robotcontroller2'}
Run a ROS core. Connect MATLAB® to the ROS master using rosinit. This core enables you to run ROS nodes on your ROS device.
runCore(d)
rosinit(d.DeviceAddress,11311)
Initializing global node /matlab_global_node_84497 with NodeURI http://192.168.203.1:56034/
Check the available ROS nodes on the connected ROS device. These nodes listed were generated from Simulink® models following the process in the Get Started with ROS in Simulink example.
d.AvailableNodes
ans = 1×2 cell
{'robotcontroller'} {'robotcontroller2'}
Run a ROS node and specify the node name. Check if the node is running.
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