How to check if global ROS node is already running in MATLAB?

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Rahul Bhadani
Rahul Bhadani 2016-2-24
评论： Thomas Stubbs 2023-1-27
Hi, I am using Robotics Toolbox to interface MATLAB and ROS. Before doing rosinit('http://192.68.0.43:11311') i want to check whether a Global Ros Node corresponding to it is running. What are the steps to accomplish that?

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Marcelino Almeida
Marcelino Almeida 2017-3-22
编辑：Marcelino Almeida 2017-3-22
I know it has been a long time, but I decided to post an answer here in case other people might be wondering how to do this.
Although there isn't much documentation on this, and this might not exist in future versions of the Robotics Toolbox, I've been able to check for node running through the following call:
robotics.ros.internal.Global.isNodeActive
The command above returns 1 if active, 0 if inactive.
  2 个评论
Alen Alempijevic
Alen Alempijevic 2020-9-22
This is a great hack, but access to the variable robotics.ros.internal.Global seems to be removed in 2019b. You can wrap the command in a try catch
try
rosinit
catch ME
fprintf(2,'%s\n',ME.message);
end
Thomas Stubbs
Thomas Stubbs 2023-1-27
I was able to do the Marcelino's solution in 2022b with a slight change:
ros.internal.Global.isNodeActive

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