Connect to the Matlab robotics system toolbox
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- Posts: 13
- Joined: 01 Oct 2014, 13:19
Connect to the Matlab robotics system toolbox
the new release of matlab added support to ROS, is there a way to enable communication between vrep and the matlab robotics system toolbox on a windows computer.
Re: Connect to the Matlab robotics system toolbox
Hello,
you could try to install ROS on Windows, which is difficult and still experimental.
Or you could use a different messaging system on Windows for your communication between the matlab robotics system toolbox and V-REP: the remote API, which allows for communication and data streaming back and forth between V-REP and an external application.
Cheers
you could try to install ROS on Windows, which is difficult and still experimental.
Or you could use a different messaging system on Windows for your communication between the matlab robotics system toolbox and V-REP: the remote API, which allows for communication and data streaming back and forth between V-REP and an external application.
Cheers
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- Posts: 13
- Joined: 01 Oct 2014, 13:19
Re: Connect to the Matlab robotics system toolbox
coppelia wrote:Hello,
you could try to install ROS on Windows, which is difficult and still experimental.
Or you could use a different messaging system on Windows for your communication between the matlab robotics system toolbox and V-REP: the remote API, which allows for communication and data streaming back and forth between V-REP and an external application.
Cheers
as i understood from the vrep documentation, the vrep ros plugin works only on linux.
the new matlab toolbox is based on rosjava.
Re: Connect to the Matlab robotics system toolbox
The ROS plugin works also on MacOS, and probably also on Windows if ROS can be installed there (but it seems that is still tricky).
Cheers
Cheers
Re: Connect to the Matlab robotics system toolbox
If you want to use Matlab Robotics System Toolbox (RST) from Windows, along with ROS and V-Rep (in Linux), then follow the steps:
1. Install ML in Windows.
2. Install ROS and V-Rep in Linux (it can be a VM which is shipped with ML-RST).
3. Initialize ROS from ML using RST command connecting to the ROS network in Linux where V-Rep is also installed (rosinit(hostname): http://www.mathworks.com/help/robotics/ref/rosinit.html).
4. Publish topics from V-Rep over ROS network (simple LUA script -> see ros_bubble_rob2).
5. Subscribe from ML to the published topics (http://www.mathworks.com/help/robotics/ ... riber.html). Remember to remotely connect ML to V-Rep.
6. Write the decision-making part of your controller in ML and send the control commands (such as wheel speeds) to V-Rep remotely.
7. Alternatively, you can publish the control commands from ML over ROS and subscribe to that from LUA script associated with the V-Rep robot.
8. It can be also done that you do all the publishing/subscribing using ML-RST only and use V-Rep only for visualizing robot movement (in case you are not comfortable with LUA script writing - but should be easy if you follow the ros_bubble_rob2 example.)
9. Keep in mind that it's a good idea to start with a small pause in ML side before expecting any data in your subscription object.
I hope this helps all the people who want to use V-REP, Matlab and ROS together. Once you have the setting ready, any controller in ML can use that setting and control the robot(s) in V-Rep.
1. Install ML in Windows.
2. Install ROS and V-Rep in Linux (it can be a VM which is shipped with ML-RST).
3. Initialize ROS from ML using RST command connecting to the ROS network in Linux where V-Rep is also installed (rosinit(hostname): http://www.mathworks.com/help/robotics/ref/rosinit.html).
4. Publish topics from V-Rep over ROS network (simple LUA script -> see ros_bubble_rob2).
5. Subscribe from ML to the published topics (http://www.mathworks.com/help/robotics/ ... riber.html). Remember to remotely connect ML to V-Rep.
6. Write the decision-making part of your controller in ML and send the control commands (such as wheel speeds) to V-Rep remotely.
7. Alternatively, you can publish the control commands from ML over ROS and subscribe to that from LUA script associated with the V-Rep robot.
8. It can be also done that you do all the publishing/subscribing using ML-RST only and use V-Rep only for visualizing robot movement (in case you are not comfortable with LUA script writing - but should be easy if you follow the ros_bubble_rob2 example.)
9. Keep in mind that it's a good idea to start with a small pause in ML side before expecting any data in your subscription object.
I hope this helps all the people who want to use V-REP, Matlab and ROS together. Once you have the setting ready, any controller in ML can use that setting and control the robot(s) in V-Rep.
Re: Connect to the Matlab robotics system toolbox
Thanks for the clear step-by-step instructions!
Cheers
Cheers
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- Posts: 1
- Joined: 14 Aug 2017, 15:26
Re: Connect to the Matlab robotics system toolbox
Can you show me tutorials to interfacing vrep and matlab to ROS in ubuntu? Thank you for tge helps
Re: Connect to the Matlab robotics system toolbox
V-REP interfaces to ROS via the RosInterface.
For Matlab and ROS, you will have to check on the Matlab forums and/or on the ROS forums.
Cheers
For Matlab and ROS, you will have to check on the Matlab forums and/or on the ROS forums.
Cheers
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- Posts: 1
- Joined: 03 Nov 2020, 02:08
Re: Connect to the Matlab robotics system toolbox
Could you guys please repost the steps how to connect to the Matlab Robotics System Toolbox for Mac computer? thanks in advance