ROS topics are stored in log files called rosbags. You can access and filter information from these rosbags in MATLAB®. For an example of working with rosbags, see Work with rosbag Logfiles.
You can access transformations between coordinate systems as ROS topics and use them to transform data in MATLAB. For more information, see Access the tf Transformation Tree in ROS.
The rosrate
object helps control the timing of code execution.
BagSelection | Object for storing rosbag selection |
TransformStamped | Create transformation message |
| Read Data | Play back data from log file |
| Coordinate Transformation Conversion | Convert to a specified coordinate transformation representation |
Summary of the structure of rosbags and the workflow for selecting subsets of messages in a rosbag.
A rosbag or bag is a file format in ROS for storing message data.
Access the tf Transformation Tree in ROS
The tf system in ROS keeps track of multiple coordinate frames and maintains the relationship between them in a tree structure.
Execute Code Based on ROS Time
Using a rosrate object allows you to control the rate of your
code execution based on the ROS Time /clock topic.
Time Stamp a ROS Message Using Current Time in Simulink
This example shows how to time stamp a ROS message with the current system time of your computer.
Convert a ROS Pose Message to a Homogeneous Transformation
This model subscribes to a Pose message on the ROS network and converts it to a homogeneous transmation.