系列文章目录

walking与Matlab入门教程-安装matlab 2022a软件
walking与Matlab入门教程-安装visual studio 2019软件
walking与Matlab入门教程-安装python和cmake环境
walking与Matlab入门教程-介绍示例模型
walking与Matlab入门教程-连接到walking机器人
walking与Matlab入门教程-查看话题内容
walking与Matlab入门教程-订阅雷达、里程计、相机信息
walking与Matlab入门教程-发布里程计并使用订阅者回调绘制位置
walking与Matlab入门教程-控制walking机器人移动
walking与Matlab入门教程-从Simulink生成代码来创建ROS2节点
walking与Matlab入门教程-ros2命令

说明：

介绍在Matlab的示例模型

示例模型：

键盘控制 exampleHelperROS2TurtleBotKeyboardControl.m

function poses = exampleHelperROS2TurtleBotKeyboardControl(handles)
keyObj = ExampleHelperTurtleBotKeyInput();
velMsg = ros2message(handles.velPub);
reply = 0;while reply~='q'forwardV = 0;   % Initialize linear and angular velocitiesturnV = 0;        reply = getKeystroke(keyObj);switch replycase 'i'         % iforwardV = 0.5;case 'k'     % kforwardV = -0.5;case 'j'     % jturnV = 1;case 'l'     % lturnV = -1;endvelMsg.linear.x = forwardV;velMsg.angular.z = turnV;send(handles.velPub,velMsg);odomMsg = handles.odomSub.LatestMessage;handles.poses = [handles.poses;exampleHelperGet2DPose(odomMsg)];     endposes = handles.poses;closeFigure(keyObj);
end

键盘控制 ExampleHelperTurtleBotKeyInput.m

classdef ExampleHelperTurtleBotKeyInput < handle%ExampleHelperTurtleBotKeyInput - Class for obtaining keyboard input%   OBJ = ExampleHelperTurtleBotKeyInput() creates a figure with instructions for Turtlebot%   keyboard control. The object keeps track of the figure and axes handles%   and converts keyboard input into ASCII values.%%   ExampleHelperTurtleBotKeyInput methods:%       getKeystroke            - Returns ASCII value for keystroke%       closeFigure             - Closes the figure and cleans up%%   ExampleHelperTurtleBotKeyInput properties:%       Figure                  - Stores the figure handle%       Axes                    - Stores the axes handle%%   See also exampleHelperTurtleBotKeyboardControl%   Copyright 2014-2015 The MathWorks, Inc.propertiesFigure = [];            % Stores the figure handleAxes = [];              % Stores the axes handleendmethodsfunction obj = ExampleHelperTurtleBotKeyInput()%ExampleHelperTurtleBotKeyInput - Constructor for KeyInput classcallstr = 'set(gcbf,''Userdata'',double(get(gcbf,''Currentcharacter''))) ; uiresume ' ;obj.Figure = figure(...'Name','Press a key', ...'KeyPressFcn',callstr, ...'Position',[500 500  500 300],...'UserData','Timeout');obj.Axes = axes('Color','k','Visible','Off','XLim',[0,100],'YLim',[0,100]);text(50,80,'i = Forward','HorizontalAlignment','center','EdgeColor','k');text(50,40,'k = Backward','HorizontalAlignment','center','EdgeColor','k');text(25,60,'j = Left','HorizontalAlignment','center','EdgeColor','k');text(75,60,'l = Right','HorizontalAlignment','center','EdgeColor','k');text(50,20,'q = Quit','HorizontalAlignment','center','EdgeColor','r');text(50,0,'Keep this figure in scope to give commands','HorizontalAlignment','center');endfunction keyout = getKeystroke(obj)%GETKEYSTROKE - Returns ASCII value for keystroketryuiwait(obj.Figure);keyout = get(obj.Figure,'Userdata') ;catchkeyout = 'q';endendfunction closeFigure(obj)%CLOSEFIGURE - Closes the figure and cleans uptryfigure(obj.Figure);close(obj.Figure);catchendendendend

绘制雷达数据 ExampleHelperQoSTurtleBotPlotScan.m

function ExampleHelperQoSTurtleBotPlotScan(scanMsg,plotobj,odomSub)
% Lidar subscriber's callback to plot the latest odometry and lidar sensor
% readingodomMsg = odomSub.LatestMessage;
% laserdata = rosReadCartesian(scanMsg);
laserdata = rosReadCartesian(scanMsg);
pose = readPose(odomMsg);
plotData(plotobj,pose,laserdata * [0 1; -1 0]);
endfunction pose = readPose(msg)
%readPose Extract the robot odometry reading as [x y theta] vector
poseMsg = msg.pose.pose;% Extract the x, y, and theta coordinates
xpos = poseMsg.position.x;
ypos = poseMsg.position.y;
quat = poseMsg.orientation;
angles = quat2eul([quat.w quat.x quat.y quat.z]);
theta = angles(1);pose = [xpos, ypos, theta];
end

绘制相机数据 ExampleHelperQoSTurtleBotPlotImage.m

function ExampleHelperQoSTurtleBotPlotImage(imageMsg,AxesHandleCamera)
img = permute(reshape(imageMsg.data,[3 1280 720]),[3 2 1]); % to be updated with rosReadImage
image(AxesHandleCamera,img)
end

绘制里程计数据 exampleHelperROS2PlotOdom.m

function exampleHelperROS2PlotOdom(msg,hAxes,linespec)
%exampleHelperROS2PlotOdom Subscriber callback function for odometry data
%   exampleHelperROS2PlotOdom(MESSAGE,AXES,LINESPEC) returns no arguments.
%   Instead it plots the position of the robot, using the provided marker,
%   and noting the timestamp of the message next to the position.
%
%   See also ManageQualityOfServicePoliciesInROS2Example.%   Copyright 2019 The MathWorks, Inc.% Set up axes
hold(hAxes,"on")% Plot the robot position
msgTimestamp = double(msg.header.stamp.sec)+...double(msg.header.stamp.nanosec)*1e-9;
plot(hAxes,msg.pose.pose.position.x,msg.pose.pose.position.y,linespec)
text(hAxes,msg.pose.pose.position.x,msg.pose.pose.position.y,sprintf(" %.0d",msgTimestamp))
end

获取位置信息 exampleHelperGet2DPose.m

function pose = get2DPose(odomMsg)
% GET2DPOSE Helper function that extracts [x y theta] 2D pose
% from a ROS odometry message.
% Copyright 2018 The MathWorks, Inc.% Unwrap positionposition = odomMsg.pose.pose.position;x = position.x;y = position.y;% Unwrap orientationorientation = odomMsg.pose.pose.orientation;q = [orientation.w, orientation.x, ...orientation.y, orientation.z];r = quat2eul(q);theta = r(1); % Extract Z componentpose = [x, y, theta];end

处理传感数据 ExampleHelperQoSTurtleBotSetupVisualizer.m

function [plotobj,axHandle,checkPointText,Axes] = ExampleHelperQoSTurtleBotSetupVisualizer(velPub)
% Initialize the visualizers of robot's current postion with Lidar scan,
% and camera images
plotobj = ExampleHelperQoSTurtleBotVisualizer([-2,6,-2,6]);
figHandle = figure('Name','Camera Image','Visible','on');
axHandle = axes('Parent',figHandle);
% Create a teleoperation controller visulizer
f = figure(...'Visible','on',...'Name','Press a key',...'KeyPressFcn',{@getKey,velPub},...'DeleteFcn',@deleteKey);Axes = axes(...f,'Color','k',...'Visible','Off',...'XLim',[0,100],...'YLim',[0,100]);
text(...Axes,50,70,'i = Forward',...'HorizontalAlignment','center',...'EdgeColor','k');
text(...Axes,50,30,'k = Backward',...'HorizontalAlignment','center',...'EdgeColor','k');
text(...Axes,25,50,'j = Left',...'HorizontalAlignment','center',...'EdgeColor','k');
text(...Axes,75,50,'l = Right',...'HorizontalAlignment','center',...'EdgeColor','k');
text(...Axes,50,10,'s = Stop',...'HorizontalAlignment','center',...'EdgeColor','r');
text(...Axes,50,0,'Keep this figure in scope to give commands',...'HorizontalAlignment','center');
checkPointText = text(...Axes,20,90,'Find the next sign!',...'HorizontalAlignment','center',...'FontSize',14,...'FontWeight','bold',...'Color','b');
endfunction getKey(~,eventData,velPub)
% getKey UI callback to read a key pressed and send the velocity command
keyPressed = eventData.Key;
switch keyPressedcase 'i'         % iforwardV = 0.3;turnV = 0;case 'k'     % kforwardV = -0.3;turnV = 0;case 'j'     % jforwardV = 0;turnV = 0.3;case 'l'     % lforwardV = 0;turnV = -0.3;case 's'forwardV = 0;turnV = 0;
end
if isempty(forwardV) || isempty(turnV)forwardV = 0;turnV = 0;
end
setVel(velPub,forwardV,turnV);
endfunction deleteKey(obj,~)
obj.KeyPressFcn = [];
endfunction setVel(pub,vLin,vAng)
velMsg = ros2message(pub);
velMsg.linear.x = vLin;
velMsg.angular.z = vAng;
send(pub,velMsg);
end

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