ROS stand alone node
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I created a ROS node in Simulink. It consumes several Topic like the lidar /scan and return information of control of the electric motors in the form of twist. My node is embedded on the turtlebot. When I embark the node, it works well the first time (ie just after compiling and loading the node on the turtlebot). But if I turn off the turtlebot and the next day I want to restart ... I have not found how to call a Matlab node created on previous sessions I should create a launch file ? In the package, I have the CMakeList.txt and the package.xml In the files created by Matlab during the compilation, there is /devel/setup.bash ... but it is quasi empty ? when should I make a source of this file Does anyone have a clear process of how to do with ROS / Matlab to create a "standalone" node, especially on the reuse node / package one larger robot target? What we should do What to do to reuse a node. By describing the steps by steps what we should do. Thank you in advance
回答（1 个）
Sebastian Castro
2017-9-19
You should be able to use rosdevice for this.
You can create a ROS device object and query the available autogenerated nodes as follows:
r = rosdevice;
r.AvailableNodes
If you have the name of the generated node, then you can say
runNode(r,'myNodeName');
- Sebastian
2 个评论
Vincent Talon
2017-9-19
Sebastian Castro
2017-9-19
Oh, I see! The generated nodes make it to the following folder:
CATKIN_WORKSPACE/devel/lib/MODELNAME/
Then, the executable will be in that folder, under the name MODELNAME_node.
- Sebastian
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