ROS 2 Network Connection and Exploration

Set up and interact with ROS 2 Networks

Connect to ROS 2 to prototype robotics applications and access robotics hardware or simulators over a ROS network. You can create your own ROS 2 network using MATLAB^® or connect to an existing ROS 2 network. To set up a ROS 2 network, create a ROS 2 node using ros2node object.

You can access ROS 2 parameters using ros2param object and its object functions.

The ros2rate object helps control the timing of code execution.

You can also visualize a comprehensive overview of a ROS 2 network graph by using the ROS 2 Network Analyzer app.

Apps

ROS 2 Network Analyzer

Visualize and analyze nodes, topics, services and actions interaction in ROS 2 network (Since R2024b)

Functions

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ROS 2

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

ROS 2 Transformations

`ros2tf`	Receive, send, verify and apply ROS 2 transformations (Since R2023a)
`rosApplyTransform`	Transform ROS and ROS 2 message entities into target frame (Since R2021a)
`rosReadTransform`	Return transformation from ROS or ROS 2 `TransformStamped` message structure (Since R2023b)
`canTransform`	Verify if transformation is available (Since R2023a)
`transform`	Transform message entities into target coordinate frame (Since R2023a)
`getTransform`	Return the transformation between two coordinate frames (Since R2023a)
`sendTransform`	Send a transformation to the ROS 2 network (Since R2023a)

ROS 2 Time

`ros2time`	Access ROS 2 time functionality (Since R2022b)
`ros2rate`	Execute loop at fixed frequency (Since R2022b)
`ros2duration`	Create a ROS 2 duration message (Since R2022b)

ROS 2 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

Objects

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ROS 2 Nodes

ros2node Create a ROS 2 node on the specified network

ROS 2 Parameters

ros2param Create object to access parameters from ROS 2 nodes (Since R2022b)

Blocks

Blank Message	Create blank ROS 2 message using specified message type
Current Time	Retrieve current ROS 2 time or system time (Since R2022b)
Get Parameter	Get ROS 2 parameter value (Since R2022b)

Topics

Connect to ROS 2 Network and Establish Communication
Connect to ROS 2 network using nodes and establish communication through different interface types.
Get Started with ROS 2 Network Analyzer App
Use ROS 2 Network Analyzer app to visualize and analyze nodes, topics, services and actions interaction in ROS 2 network. (Since R2024b)