runCore

Start ROS core

Syntax

runCore(device)

Description

runCore(device) starts the ROS core on the connected device. The ROS master uses a default port number of 11311.

Examples

Run ROS Core on ROS Device

Connect to a remote ROS device and start a ROS core. The ROS core is needed to run ROS nodes to communicate via a ROS network. You can run and stop a ROS core or node and check their status using a rosdevice object.

Create a connection to a ROS device. Specify the address, user name, and password of your specific ROS device. The device contains information about the ROS device, including the available ROS nodes that can be run using runNode.

ipaddress = '192.168.203.131';
d = rosdevice(ipaddress,'user','password')

d = 
  rosdevice with properties:

      DeviceAddress: '192.168.203.131'
           Username: 'user'
          ROSFolder: '/opt/ros/indigo'
    CatkinWorkspace: '~/catkin_ws'
     AvailableNodes: {'voxel_grid_filter_sl'}

Run a ROS core and check if it is running.

runCore(d)

Another roscore / ROS master is already running on the ROS device. Use the 'stopCore' function to stop it.

running = isCoreRunning(d)

running = logical
   1

Stop the ROS core and confirm that it is no longer running.

stopCore(d)
pause(2)
running = isCoreRunning(d)

running = logical
   0

Input Arguments

device — ROS device

rosdevice object

ROS device, specified as a rosdevice object.

Version History

Introduced in R2019b