Using Robotics Toolbox in Simulink with Multiple Robots

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Augusto Tavares
Augusto Tavares 2017-2-1
回答： Sebastian Castro 2017-7-27
Hello,
I've recently implemented a control system for a Turtlebot using the Robotics System Toolbox inside Simulink to communicate with it. I now wish to start working with formation control, which demands that I communicate with multiple robots at a time, and even though it says that the Toolbox is able to communicate with multiple ROS Masters in the features page, I'm not quite clear on how to do it, since in the Simulink settings I can only set one IP address. Do I need to run multiple Simulink models in parallel and communicate between them or is there a way to configure multiple addresses for communication inside the same simulation?
Thanks in advance for your help.

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回答（1 个）

Sebastian Castro
Sebastian Castro 2017-7-27
Actually, the multiple ROS master support only works for MATLAB workflows, and not Simulink...
In MATLAB, you can create multiple robotics.ros.Node objects that connect to different masters. Take a look at https://www.mathworks.com/help/robotics/ref/node-object.html, particularly the example in that page.
In Simulink, the best thing I can think of is (if you have Embedded Coder) generating C++ nodes from multiple models, which can then connect to different ROS masters.
- Sebastian

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