ROS 2 Node Generation and Deployment

Generate C/C++ and CUDA code for ROS 2 nodes and deploy to local and remote hardware

ROS Toolbox enables you to generate C++ and CUDA^® code for ROS 2 nodes, and deploy them to local or remote device targets. For MATLAB^® code that contains ROS interfaces, you can generate C++ code and deploy them as ROS 2 nodes using MATLAB Coder™ (See Generate a Standalone ROS 2 Node). For Simulink^® models, you can generate C++ code using Simulink Coder (See Generate a Standalone ROS 2 Node from Simulink) or optimized CUDA code using GPU Coder™, and deploy them as ROS 2 nodes.

Note

Deployment of ROS 2 nodes requires transfer of files to the target ROS 2 device through an SSH connection. Ensure that OpenSSH is installed on the target ROS 2 device before deployment.

Functions

Functions Supporting C++ Code Generation

Blocks

Blocks Supporting C++ Code Generation

Topics

Generate and Deploy ROS 2 Nodes from MATLAB

Generate a Standalone ROS 2 Node
Generate C++ code for a standalone ROS 2 node from a MATLAB function.
Configure MATLAB Coder for ROS 2 Node Generation
Configure MATLAB Coder configuration object for customizing ROS 2 Node generation.
Lane Detection in ROS 2 Using Deep Learning with MATLAB
Generate CUDA optimized ROS 2 node for deep learning based lane detection algorithm.

Generate and Deploy ROS 2 Nodes from Simulink

Generate a Standalone ROS 2 Node from Simulink
Generate and build a standalone ROS 2 node from a Simulink model.
Generate CUDA ROS 2 Node from Simulink
Configure Simulink Coder to generate and build a CUDA ROS 2 node from a Simulink model.
Generate ros2_control Plugin from Simulink
Generate and deploy ros2_control plugin for the controller designed in a Simulink model to a robot on the ROS 2 network.
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.
Automated Parking Valet with ROS 2 in Simulink
Distribute an automated parking valet application among various nodes in a ROS 2 network in Simulink.
Design and Generate ros2_control Trajectory Controller for UR5e Manipulator Using Simulink

Use Simulink to design, validate and generate code for a 3-D trajectory controller for UR5e robotic manipulator.
- STEP 1: Design Trajectory Controller for UR5e Manipulator Using Simulink and Unreal Engine Co-simulation
- STEP 2: Automated Generation and Deployment of ros2_control Plugin for Trajectory Controller

Featured Examples

Automated Parking Valet with ROS 2 in MATLAB

Distribute the Automated Parking Valet application among various nodes in a ROS 2 network using MATLAB.

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Simulate Automated Parking Valet with ROS 2 in Simulink

Distribute an automated parking valet application among various nodes in a ROS 2 network in Simulink.

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Generate and Deploy ROS 2 Nodes for Automated Parking Valet in Simulink

After simulating the ROS 2 nodes to verify all the components of the automated parking valet system as described in Simulate Automated Parking Valet with ROS 2 in Simulink, you can now generate code for those ROS 2 nodes and deploy them. Variant subsystem under each node will use publish and subscribe blocks to replace input and output ports.

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Generate CUDA ROS and CUDA ROS 2 Nodes Using MATLAB Coder and GPU Coder

Generate and build CUDA ROS and CUDA ROS 2 nodes from a MATLAB function.

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