ROS in Simulink
ROS Toolbox enables you to connect to ROS and ROS 2 in Simulink and send messages over the network. See Get Started with ROS in Simulink.
You can also generate and deploy code to a target system. For an advanced example on creating a standalone ROS node, see Generate a Standalone ROS Node from Simulink.
To run, stop, or check the status of deployed ROS nodes available on a ROS device,
use the MATLAB® functions listed. Create a connection to a ROS device using rosdevice
.
Note
ROS blocks are not supported for usage within subsystem references. This is because ROS Toolbox uses a data dictionary to store model information but subsystem reference does not support portability of data dictionary attached to it. For more information on using subsystem references, see Considerations When Using a Library Dictionary (Simulink).
Functions
Blocks
Topics
ROS Network
- ROS Simulink Support and Limitations
The ROS Toolbox does not support the following ROS features in Simulink: - Get Started with ROS in Simulink
Use Simulink blocks for ROS to send and receive messages from a local ROS network. - Configure ROS Network Addresses
Configure ROS Network Addresses Dialog - Connect to a ROS-enabled Robot from Simulink®
Configure Simulink to connect to a separate robot simulator using ROS and then send velocity commands, and receive position information from a simulated robot. - ROS Parameters in Simulink
Details for setting ROS parameters in Simulink. - Connect to ROS Device
Parameters for connecting to a ROS device. - ROS Simulink Interaction
Simulink and ROS Interaction Overview
ROS Messages
- Work with ROS Messages in Simulink
Work with complex ROS messages in Simulink, such as messages with nested sub-messages and variable-length arrays. - Select ROS Topics, Messages, and Parameters
Dialog box descriptions for selection ROS topics and messages. - Log ROS Messages from Simulink to a Rosbag Logfile
Save ROS message data from Simulink to a rosbag file. - Use ROS Logger App to Save ROS Messages from Simulink
Use ROS Logger app to record ROS messages during Simulink simulation. - Manage Array Sizes for ROS Messages in Simulink
Description of dialog box for managing array sizes in Simulink ROS
ROS Applications
- Generate a Standalone ROS Node from Simulink
Generate and build a standalone ROS node from a Simulink model. - Feedback Control of a ROS-Enabled Robot
Use Simulink to control a simulated robot running in a separate ROS-based simulator. - Sign Following Robot with ROS in Simulink
Use Simulink to control a simulated robot running on a separate ROS-based simulator. - Automated Parking Valet with ROS in Simulink
Distribute an automated parking valet application among various nodes in a ROS network in Simulink. - Generate Code to Manually Deploy a ROS Node from Simulink
This example shows you how to generate C++ code from a Simulink model to deploy as a standalone ROS node. - Emergency Braking of Ego Vehicle in CARLA Simulator Using Simulink and CARLA ROS Bridge
Emergency braking of ego vehicle in CARLA using Simulink.
Model Execution
- Enable External Mode for ROS Toolbox Models
External mode enables Simulink on your host computer to communicate with a deployed model on your robotics hardware during runtime. - Enable ROS Time Model Stepping for Deployed ROS Nodes
You can enable a deployed ROS node to execute based on the time published on the/clock
topic on a ROS network. - Tune Parameters and View Signals on Deployed Robot Models Using External Mode
External mode enables Simulink models on your host computer to communicate with a deployed model on your robot hardware during runtime. - Overrun Detection with Deployed ROS Nodes
You can enable overrun detection for a deployed ROS node.