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I am working with scara robot and i have to implement custom control structure designed in MATLAB-simulink and i wanted to test my control algorithm for scara robot. I have used joint state controllers for demo purpose. I am not sure how to implement further because i am new to ros. Can anyone tell procedure ?
Hi @Bhavik
Consider this a partial answer as I don't know how to a full connection to your specific robot application, but this is how I will approach it.
There is a lot of information for connecting Simulink to Matlab scripts and it's outside scope of the forum and I sense you already have experience with it. One example: https://www.mathworks.com/videos/inco...
To start with, I will first work on this wonderful tutorial that shows how to perform ROS Controls with Matlab to control a PR2 arms: https://www.mathworks.com/help/roboti...
The tutorial it will help you understand how to the basics of ROS control.
But if you want to learn ROS and learn more about using Matlab and ROS, I'd recommend to purchase this book:
Mastering ROS for Robotics Programming Third Edition Best practices and troubleshooting solutions when working with ROS Lentin Joseph Jonathan Cacace
Chapter 14: Using ROS in MATLAB and Simulink
Asked: 2022-01-26 07:25:56 -0600
Seen: 258 times
Last updated: Jan 27 '22
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