MATLAB Answers

ROS stand alone node

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Vincent Talon
Vincent Talon on 18 Sep 2017
Commented: Sebastian Castro on 19 Sep 2017
I created a ROS node in Simulink. It consumes several Topic like the lidar /scan and return information of control of the electric motors in the form of twist. My node is embedded on the turtlebot. When I embark the node, it works well the first time (ie just after compiling and loading the node on the turtlebot). But if I turn off the turtlebot and the next day I want to restart ... I have not found how to call a Matlab node created on previous sessions  I should create a launch file ? In the package, I have the CMakeList.txt and the package.xml In the files created by Matlab during the compilation, there is /devel/setup.bash ... but it is quasi empty ? when should I make a source of this file Does anyone have a clear process of how to do with ROS / Matlab to create a "standalone" node, especially on the reuse node / package one larger robot target? What we should do What to do to reuse a node. By describing the steps by steps what we should do. Thank you in advance

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Answers (1)

Sebastian Castro
Sebastian Castro on 19 Sep 2017
You should be able to use rosdevice for this.
You can create a ROS device object and query the available autogenerated nodes as follows:
r = rosdevice;
r.AvailableNodes
If you have the name of the generated node, then you can say
runNode(r,'myNodeName');
- Sebastian

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Vincent Talon
Vincent Talon on 19 Sep 2017
Sorry, maybe not was very clear. In my case, I try to restart the node ROS created with Matlab but without more use Matlab; I want to launch the ROS node in standalone on the Turtlebot without ever connecting to Matlab. It same, if I have create the node in Python or C++.
Sebastian Castro
Sebastian Castro on 19 Sep 2017
Oh, I see! The generated nodes make it to the following folder:
CATKIN_WORKSPACE/devel/lib/MODELNAME/
Then, the executable will be in that folder, under the name MODELNAME_node.
- Sebastian

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