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ROS Network Access in MATLAB

Access ROS networks and messages using MATLAB^®

ROS shares information using messages. Messages are a simple data structure for sharing data. To receive or subscribe to a message, use rossubscriber. To send or publish a message use rospublisher. See Exchange Data with ROS Publishers and Subscribers for more information on sending messages.

ROS services and actions enable users to perform tasks. Services use request-response communication to gather information and trigger callback functions in the ROS network. Actions can be used to trigger tasks or goals and receive feedback during operation of these tasks.

Functions

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ROS Messages

`rosmessage`	Create ROS messages (Since R2019b)
`rosmsg`	Retrieve information about ROS messages and message types (Since R2019b)
`rosShowDetails`	Display all ROS message contents (Since R2021a)
`rostopic`	Retrieve information about ROS topics (Since R2019b)

ROS Publisher and Subscriber

`rospublisher`	Publish message on a topic (Since R2019b)
`rossubscriber`	Subscribe to messages on a topic (Since R2019b)
`receive`	Wait for new ROS message (Since R2019b)
`send`	Publish ROS message to topic (Since R2019b)

ROS Actions

`rosaction`	Retrieve information about ROS actions (Since R2019b)
`rosactionserver`	Create ROS Action Server (Since R2022a)
`getFeedbackMessage`	Create new action feedback message (Since R2022a)
`isPreemeptRequested`	Check if a goal has been preempted (Since R2022a)
`sendFeedback`	Send feedback to action client during goal execution (Since R2022a)
`rosActionServerExecuteGoalFcn`	Return function handle for ROS action server callback (Since R2022a)
`rosactionclient`	Create ROS action client (Since R2019b)
`cancelAllGoals`	Cancel all goals on action server (Since R2019b)
`cancelGoal`	Cancel last goal sent by client (Since R2019b)
`sendGoal`	Send goal message to action server (Since R2019b)
`sendGoalAndWait`	Send goal message and wait for result (Since R2019b)
`waitForServer`	Wait for action server to start (Since R2019b)

ROS Services

`call`	Call ROS or ROS 2 service server and receive a response (Since R2019b)
`isServerAvailable`	Determine if ROS or ROS 2 service server is available (Since R2021b)
`rosservice`	Retrieve information about services in ROS network (Since R2019b)
`rossvcclient`	Connect to ROS service server (Since R2019b)
`rossvcserver`	Create ROS service server (Since R2019b)
`waitForServer`	Wait for ROS or ROS 2 service server to start (Since R2021b)

ROS Rate Control

rosrate Execute loop at fixed frequency (Since R2019b)

Blocks

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ROS

Blank Message	Create blank message using specified message type (Since R2019b)
Current Time	Retrieve current ROS time or system time (Since R2019b)
Publish	Send messages to ROS network (Since R2019b)
Subscribe	Receive messages from ROS network (Since R2019b)
Call Service	Call service in ROS network (Since R2019b)

Topics

ROS Publishers and Subscribers

Work with Basic ROS Messages
Create, explore, and populate ROS messages in MATLAB, that are commonly encountered in robotics applications.
Built-In Message Support
List of supported ROS message types in MATLAB.
Exchange Data with ROS Publishers and Subscribers
Publish and subscribe to topics in a ROS network.
Work with Specialized ROS Messages
Handle message types for laser scans, uncompressed and compressed images, point clouds, camera info, occupancy grid, and octomap messages.
Publish Variable-Length Nested ROS Messages and Deploy as ROS Node Using MATLAB
Work with complex ROS messages in MATLAB, such as messages with nested submessages and variable-length arrays.
Improve Performance of ROS Using Message Structures
Demonstrates the use of ROS message structures, and their benefits and differences from message objects.

ROS Services And Actions

Call and Provide ROS Services
Set up service servers to advertise a service to the ROS network.
ROS Actions Overview
ROS action workflow and communication protocols
Move a Turtlebot Robot Using ROS Actions
This example shows how to use the /turtlebot_move action with a Turtlebot robot.