Mastering ROS for Robotics Programming - Second Edition

Working with ROS messages in Simulink

Simulink support for ROS allows us to model systems that can be linked to other nodes of the ROS network. This support includes a library of Simulink blocks for sending and receiving messages via topics. When we start the simulation of the developed model, Simulink will try to connect to a ROS network, which can be running on the same computer where Simulink is or on another remote machine. Once this connection is established, Simulink exchanges messages with the ROS network until the simulation is terminated. As we did in the previous section, we will start by showing how to read and write data, using ROS topics, and then we will discuss how to create a more complex system to control the Turtlebot robot ...