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-发布里程计并使用订阅者回调绘制位置

说明：

• 介绍如何在Matlab发布里程计并使用订阅者回调绘制位置

步骤：

• 启动小车

ros2 launch walking_bringup robot.launch.py 

• 打开Matlab软件

• 在C:\Users\XXX\Documents\MATLAB\Examples\R2022a\ros\ManageQualityOfServicePoliciesInROS2Example目录下，新建一个m文件

• 代码如下：

setenv("ROS_DOMAIN_ID","2")
robotNode= ros2node("/simple_robot")

odomPub = ros2publisher(robotNode,"/odom","nav_msgs/Odometry",...
    "Reliability","reliable");

hFig = figure;
hAxesReliable = axes("Parent",hFig);
title("Robot Position (Reliable Connection)")
xlabel("X (m)")
ylabel("Y (m)")

odomPlotSub = ros2subscriber(robotNode,"/odom",...
    @(msg)exampleHelperROS2PlotOdom(msg,hAxesReliable,"ok"),...
    "Reliability","reliable");

load robotPoseLidarData.mat odomData
for iMsg = 1:numel(odomData)
    send(odomPub,odomData(iMsg))
end

pause(5)    

• 点击“运行”

• 结果如下：