ROS 2 Component Node Generation and Deployment

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

ROS 2 component nodes are a more modular and resource-efficient version of the standard nodes. They are managed using a component manager and have these characteristics:

  • They operate on a shared process and support dynamic loading and unloading.

  • They do not have their own main function.

  • They are deployed as shared libraries along with the C++ code packages.

Because component nodes operate on a shared process, they are resource efficient and do not have any communication overhead. This makes them good candidates for validation of complex robotic applications where multiple different algorithms share data between them.

You can generate ROS 2 component nodes from both MATLAB® and Simulink®. You can also generate CUDA® optimized code for the ROS 2 component nodes from both MATLAB and Simulink.

Note

  • Deployment of ROS 2 nodes requires transfer of files to the target ROS 2 device through an SSH connection. Ensure that OpenSSH is installed on the target ROS 2 device before deployment.

  • Running ROS 2 component nodes require rlcpp_components package to be installed on the target ROS 2 device.

Functions

Functions Supporting C++ Code Generation

Blocks

Blocks Supporting C++ Code Generation

Topics

Generate and Deploy ROS 2 Component Nodes from Simulink

Featured Examples

Generate and Deploy ROS 2 Component Nodes for Sign Following Robot Using Simulink

Generate and Deploy ROS 2 Component Nodes for Sign Following Robot Using Simulink

Generate ROS 2 component nodes from Simulink for handling perception and tracking logic of a sign-following robot. It also shows how to load and run the generated ROS 2 components in a docker container running the simulated robot in Gazebo.