walking与Matlab入门教程-订阅雷达、里程计、相机的订阅信息

walking与Matlab入门教程-订阅雷达、里程计、相机的订阅信息

说明：

• 介绍如何在Matlab订阅雷达、里程计、相机的订阅信息

步骤：

• 新开终端，启动底盘

ros2 launch walking_bringup robot.launch.py 

• 新开终端，启动激光雷达测试

ros2 launch walking_tools test_laser.launch.py

• 新开终端，启动相机测试

ros2 launch walking_tools test_d435i.launch.py

• 打开Matlab软件

• 设置域ID为2

setenv("ROS_DOMAIN_ID","2")

• 创建ROS2节点

ros2Node = ros2node("/example_node")

• 创建两个ROS2节点：/robotDataProcessingNod 和 /humanOperatorNode。

robotDataProcessingNode = ros2node("/robotDataProcessingNode",2);
humanOperatorNode = ros2node("/humanOperatorNode",2);

• 接收传感器数据以/robotDataProcessingNode进行处理并发布消息以跟踪检测到的标志数量，发送速度命令以在/humanOperatorNode环境中驱动 TurtleBot，并在检测到标志时收到确认

• 发布速度的信息

velPub = ros2publisher(humanOperatorNode,"/cmd_vel","geometry_msgs/Twist","Reliability","reliable","Durability","transientlocal","Depth",5);

• 订阅雷达、里程计、相机的信息

laserSub = ros2subscriber(robotDataProcessingNode,"/scan","sensor_msgs/LaserScan","Reliability","besteffort","Durability","volatile","Depth",5);
odomSub = ros2subscriber(robotDataProcessingNode,"/odom","nav_msgs/Odometry","Reliability","reliable","Durability","volatile","Depth",5);
imageSub = ros2subscriber(robotDataProcessingNode,"/camera/color/image_raw","sensor_msgs/Image","Reliability","besteffort","Durability","volatile","Depth",5);

• 控制器移动机器人。处理传感器数据以帮助机器人在环境中进行可视化和导航。当机器人靠近一个标志时，标志检测算法会输出一条确认消息，其中包含寻找下一个标志的指令。重复此任务，直到机器人到达停止标志

[laserPlotObj,imageAxesHandle,signText,axesHandle] = ExampleHelperQoSTurtleBotSetupVisualizer(velPub);
receive(laserSub,5);
receive(odomSub,5);
receive(imageSub,5);
laserSub.NewMessageFcn = @(msg)ExampleHelperQoSTurtleBotPlotScan(msg,laserPlotObj,odomSub);
imageSub.NewMessageFcn = @(msg)ExampleHelperQoSTurtleBotPlotImage(msg,imageAxesHandle);

• 需要修改相机对应的分辨率：

C:\Users\XXX\Documents\MATLAB\Examples\R2022a\ros\ManageQualityOfServicePoliciesWithTurtleBotExample\ExampleHelperQoSTurtleBotPlotImage.m


permute(reshape(imageMsg.data,[3 1280 720]),[3 2 1]);

• 这里使用D435i相机，修改对应的分辨率：1280 x 720

• 结果如下：

演示视频