Sending/Recieving ROS transformation /tf using Simulink

Question

Jürgen Buchner 2016-6-13

2
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/289620-sending-recieving-ros-transformation-tf-using-simulink

回答： Josh Chen 2023-8-18

Hi,

I would like to get a ROS transformation from the /tf topic in Simulink. I already accomplished to get it in a script using getTransform, but I need it in Simulink. Is there a posibility to select FrameID and ChildFrameID in the ROS Subscribe block? If not, which alternative would you suggest? In addition, I would like to broadcast a transformation in Simulink.

My Matlab version is R2015b and I have the Robotics System Toolbox.

Thanks in advance. Jürgen

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Answer 1

Josh Chen 2023-8-18

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https://ww2.mathworks.cn/matlabcentral/answers/289620-sending-recieving-ros-transformation-tf-using-simulink#answer_1289417

Hi Jürgen,

In 2015b, you should be able to subscribe to the /tf topic directly with the ROS Subscribe block, and connect the output to Bus Selector block to obtain the FrameID and ChildFrameID. You may also send transformation with Publish block as a workaround.

Starting from R2023b, this functionality is available in ROS Toolbox. You may consider to use Get Transform block to get transform from ROS/ROS 2 network instead. You may access R2023b Prerelease through this webpage.

Thanks,

Josh