ROS 2 Network Access in Simulink

Access ROS 2 networks and messages using Simulink^®

ROS Toolbox enables you to connect to ROS and ROS 2 in Simulink and send messages over the network. See Get Started with ROS 2 in Simulink.

You can also generate and deploy code to a target system. For an advanced example on creating a standalone ROS 2 node, see Generate a Standalone ROS 2 Node from Simulink.

To run, stop, or check the status of deployed ROS 2 nodes available on a ROS 2 device, use the MATLAB^® functions listed. Create a connection to a ROS device using ros2device.

Note

ROS 2 blocks are not supported for usage within subsystem references. This is because ROS Toolbox uses a data dictionary to store model information but subsystem reference does not support portability of data dictionary attached to it. For more information on using subsystem references, see Considerations When Using a Library Dictionary (Simulink).

ROS 2 blocks are not supported for software-in-the-loop (SIL) and processor-in-the-loop (PIL) simulations.

Functions

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ROS 2 Nodes and Devices

`ros2device`	Connect to remote ROS 2 device (Since R2021a)
`runNode`	Start ROS or ROS 2 node
`stopNode`	Stop ROS or ROS 2 node
`isNodeRunning`	Determine if ROS or ROS 2 node is running

Blocks

Apply Transform	Transform input ROS or ROS 2 message to target frame (Since R2023b)
Blank Message	Create blank ROS 2 message using specified message type
Call Service	Call service in ROS 2 network (Since R2021b)
Cancel Action Goal	Cancel active action goal in ROS 2 network (Since R2024a)
Current Time	Retrieve current ROS 2 time or system time (Since R2022b)
Get Parameter	Get ROS 2 parameter value (Since R2022b)
Get Transform	Get transformation between source and target frame from ROS 2 network (Since R2023b)
Header Assignment	Update fields of ROS 2 message header (Since R2023a)
Monitor Action Goal	Monitor action goal in ROS 2 network (Since R2024a)
Publish	Send messages to ROS 2 network
Receive Service Request	Receive service request from ROS 2 network (Since R2024a)
Read Data	Play back data from ROS 2 log file (Since R2021b)
Read Image	Extract image from ROS 2 `Image` message (Since R2021b)
Read Scan	Extract scan data from ROS or ROS 2 laser scan message (Since R2022a)
Read Point Cloud	Extract point cloud from ROS 2 `PointCloud2` message (Since R2021b)
Send Action Goal	Send action goal messages to ROS 2 network (Since R2024a)
Send Service Response	Send service response to ROS 2 service client (Since R2024a)
Subscribe	Receive messages from ROS 2 network
Write Image	Write image data to a ROS or ROS 2 message (Since R2022a)
ROS Write Point Cloud, ROS 2 Write Point Cloud	Write point cloud data to a ROS or ROS 2 message (Since R2022a)

Topics

ROS 2 Network

Get Started with ROS 2 in Simulink
Use Simulink blocks for ROS 2 to send and receive messages from a local ROS 2 network.
Publish and Subscribe to ROS 2 Messages in Simulink
Publish and subscribe to a ROS 2 topic using Simulink.
Connect to a ROS-Enabled Robot from Simulink over ROS 2
Configure a Simulink model to send and receive information from a separate ROS-based simulator such as Gazebo over ROS 2.

ROS 2 Messages

Work with ROS 2 Messages in Simulink
Work with complex ROS 2 messages inSimulink, such as messages with nested sub-messages and variable-length arrays.
Manage Array Sizes for ROS Messages in Simulink
Description of dialog box for managing array sizes in Simulink ROS
Log ROS 2 Messages from Simulink to ROS 2 Bag File
Save ROS 2 message data from Simulink to a ros2bag file.
Use ROS 2 Logger App to Save ROS 2 Messages from Simulink
Use ROS 2 Logger app to record ROS 2 messages during Simulink simulation.

ROS 2 Applications

Generate a Standalone ROS 2 Node from Simulink
Generate and build a standalone ROS 2 node from a Simulink model.
Feedback Control of a ROS-Enabled Robot Over ROS 2
Use Simulink to control a simulated robot running in a Gazebo robot simulator over ROS 2 network.
Sign-Following Robot with ROS 2 in Simulink
Use Simulink to control a simulated robot running on a separate ROS-based simulator over ROS 2 network.
Automated Parking Valet with ROS 2 in Simulink
Distribute an automated parking valet application among various nodes in a ROS 2 network in Simulink.
Generate Code to Manually Deploy a ROS 2 Node from Simulink
Generate C++ code from a Simulink model to deploy as a standalone ROS 2 node.

Model Execution

Enable ROS 2 Time Model Stepping for Deployed Nodes
You can enable a deployed ROS 2 node to execute based on the time published on the /clock topic on a ROS 2 network.