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ROS 2 Network Analyzer

Visualize and analyze nodes, topics, services and actions interaction in ROS 2 network

Since R2024b

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Description

The ROS 2 Network Analyzer enables you to visualize a comprehensive overview of the ROS 2 network and analyze essential information about all the elements in the network graph such as node name, information about the message between the nodes, and interaction between the parameters associated with the ROS 2 nodes such as topics, services and actions.

This image provides a view of the app toolstrip.ROS 2 Network Analyzer app toolstrip

To use this app:

  • Open ROS 2 Network Analyzer app from the Apps tab in MATLAB® toolstrip.

  • Click Connect ROS 2 Network Analyzer Connect button icon from MATLAB toolstrip to connect to a ROS 2 network.

  • Provide ROS 2 Domain ID and click Submit. The default domain ID is 0. This opens the network graph in the visualizer.

  • View the list of different elements in the Network Browser panel and their numbers in the Properties panel along with the Domain ID of the connected ROS 2 network. Select or unselect any of these elements from the Network Browser to view or hide them from the graph.

    Network BrowserProperties

    Node entity shape

    Nodes –– Lists all nodes in the connected ROS 2 network

    ROS 2 Network Analyzer Properties panel

    Topic entity shape

    Topics –– Lists all topics published and subscribed by each node in the connected ROS 2 network

    Service entity shape

    Services –– Lists all services that a node provides (service-server) and for which a node is a client (service-client)

    Action entity shape

    Actions –– Lists all actions that a node provides (action-server) and for which a node is a client (action-client)

  • Click Refresh ROS 2 Network Analyzer Refresh button icon to update the ROS 2 network graph with newly added or removed nodes and all the node elements in the Network Browser and Properties respectively.

  • You can click and drag any element across the visualization window based on requirements. To bring the network graph back to its initial view, click Auto Arrange ROS 2 Network Analyzer Auto Arrange button icon from the app toolstrip.

  • Zoom in or zoom out using pinch mechanism or click and hold to pan around the graph based on visual requirements.

  • Use the mini map at the bottom left corner of the visualization window to get a complete overview of a large network, highlighting the currently visible section. You can click anywhere on the mini map to pan around the network graph, ensuring ease of navigation, and choose to view the section you need.

  • Select any of the elements in the graph to view all its details in the Properties panel.

  • Use various search filters to view or hide different elements in the graph.

  • Arrange the network graph using various layouts based on specific requirements or group the elements based on namespace.

  • Click Export ROS 2 Network Analyzer Export button icon from MATLAB toolstrip to the graph snapshot as an image.

ROS 2 Network Analyzer app interface

Open the ROS 2 Network Analyzer App

  • MATLAB toolstrip: On the Apps tab, under Robotics and Autonomous Systems, click the app icon ROS 2 Network Analyzer app icon.

  • MATLAB command prompt: Enter ros2NetworkAnalyzer.

Examples

Programmatic Use

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ros2NetworkAnalyzer opens the ROS 2 Network Analyzer app, which enables you to see a comprehensive overview of a ROS 2 network graph.

Version History

Introduced in R2024b