ROS Programming: Building Powerful Robots

Listing ROS nodes, topics, and messages

The commands to inspect nodes, topics, and messages are similar to ROS bash commands. MATLAB provides a command to start sample ROS nodes that can publish topics. You can just call exampleHelperROSCreateSampleNetwork to start these nodes.

Figure 3: ROS-MATLAB commands

You can see that the usage of rosnode and rostopic is the same as with real ROS commands. You can even echo the rostopic using rostopic echo /topic_name. Here is one example, in which we are echoing a topic called /pose:

Figure 4: ROS topic ...