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Node Generation and Deployment

Generate C/C++ and CUDA code for ROS or ROS 2 nodes and deploy to local and remote hardware

ROS Toolbox enables you to generate C++ and CUDA^® code for ROS or ROS 2 nodes, and deploy them to local or remote device targets. For MATLAB^® code that contains ROS interfaces, you can generate C++ code and deploy them as ROS or ROS 2 nodes using MATLAB Coder™ (See Generate a Standalone ROS Node). For Simulink^® models, you can generate C++ code using Simulink Coder (See Generate a Standalone ROS Node from Simulink) or optimized CUDA code using GPU Coder™, and deploy them as ROS or ROS 2 nodes.

Note

Deployment of ROS nodes requires transfer of files to the target ROS device through an SSH connection. Ensure that OpenSSH is installed on the target ROS device before deployment.

Functions

Functions Supporting C++ Code Generation

Blocks

Blocks Supporting C++ Code Generation

Topics

Generate and Deploy ROS 2 Nodes from MATLAB

Generate a Standalone ROS 2 Node
Generate C++ code for a standalone ROS 2 node from a MATLAB function.
Configure MATLAB Coder for ROS 2 Node Generation
Configure MATLAB Coder configuration object for customizing ROS 2 Node generation.

Generate and Deploy ROS 2 Nodes from Simulink

Generate a Standalone ROS 2 Node from Simulink
Generate and build a standalone ROS 2 node from a Simulink model.
Generate CUDA ROS 2 Node from Simulink
Configure Simulink Coder to generate and build a CUDA ROS 2 node from a Simulink model.
Generate Code to Manually Deploy a ROS 2 Node from Simulink
Generate C++ code from a Simulink model to deploy as a standalone ROS 2 node.
Automated Parking Valet with ROS 2 in Simulink
Distribute an automated parking valet application among various nodes in a ROS 2 network in Simulink.

Generate and Deploy ROS Nodes from MATLAB

MATLAB Programming for Code Generation
Recommended workflow for generating a standalone executable from MATLAB code that contains ROS interfaces.
Generate a Standalone ROS Node
Generate C++ code for a standalone ROS node from a MATLAB function.
Configure MATLAB Coder for ROS Node Generation
Configure MATLAB Coder configuration object for customizing ROS Node generation.

Generate and Deploy ROS Nodes from Simulink

Generate a Standalone ROS Node from Simulink
Generate and build a standalone ROS node from a Simulink model.
Generate CUDA ROS Node from Simulink
Configure Simulink Coder to generate and build a CUDA ROS node from a Simulink model.
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.
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.

Featured Examples

Automated Parking Valet with ROS 2 in MATLAB

Distribute the Automated Parking Valet application among various nodes in a ROS 2 network using MATLAB.

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Simulate Automated Parking Valet with ROS 2 in Simulink

Distribute an automated parking valet application among various nodes in a ROS 2 network in Simulink.

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Generate and Deploy ROS 2 Nodes for Automated Parking Valet in Simulink

After simulating the ROS 2 nodes to verify all the components of the automated parking valet system as described in Simulate Automated Parking Valet with ROS 2 in Simulink, you can now generate code for those ROS 2 nodes and deploy them. Variant subsystem under each node will use publish and subscribe blocks to replace input and output ports.

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Generate CUDA ROS and CUDA ROS 2 Nodes Using MATLAB Coder and GPU Coder

Generate and build CUDA ROS and CUDA ROS 2 nodes from a MATLAB function.

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Automated Parking Valet with ROS in MATLAB

Distribute the Automated Parking Valet application among various nodes in a ROS network using MATLAB.

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Automated Parking Valet with ROS in Simulink

Distribute an automated parking valet application among various nodes in a ROS network in Simulink.

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Generate ROS Node for UAV Waypoint Follower

Use MATLAB code generation to create a ROS node to move a UAV along a predefined circular path and a set of specified custom waypoints.

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Deploy ROS Node for Sign Following Robot with Time Synchronization Using Simulink

Use Simulink® to generate a ROS stepping enabled node and control a simulated robot running on a separate ROS-based simulator.

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Build a Map Using Lidar SLAM with ROS in MATLAB

Use 2-D lidar data from a simulated robot in Gazebo to build a map.

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Build and Deploy Visual SLAM Algorithm with ROS in MATLAB

In this example, you implement a visual simultaneous localization and mapping (SLAM) algorithm to estimate the camera poses for the TUM RGB-D Benchmark [1] dataset. You then generate C++ code for the visual SLAM algorithm and deploy it as a ROS node to a remote device using MATLAB®.

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