ROS_node simulink target template

A ROS node template to embed Simulink code generated with ertw

Requirements

• Requires Matlab 2015a or above
• Matlab Code Generation Toolbox
• Ubuntu 14 or above
• ROS Indigo or later versions

Where to find the main files

• Head to /ros_sim_template/src. Here you will find
  • ROS node definition
  • Simulink model wich generate the code with

Usage

1. Code generation within Matlab/Simulink (If you fail this step, skip to step2)

This step can be done within Linux environment or Widnows, where ever you have Matlab installed.

• Open the model "dbx_control.slx"
• Build the model with Ctrl+b. This will generate the appropiate code. See model configuration for further details
• In Matlab console:

cd dbx_control_ert_rtw\
load('buildInfo.mat')
packNGo(buildInfo)
cd ..

• If you are in a diferent folder from the ROS node (where you found the Simulink model):
  • Copy an paste the file "dbx_control.zip" into the folder /ros_sim_template/src

2. Unzip Matlab/Simulink code generated

• Unzip "dbx_control.zip" into the folder "dbx_control"
  • So that "dbx_control.c" file should be found in /ros_sim_template/src/dbx_control/dbx_control.c

3. Package build in ROS

This step assumes you already created a workspace in which you put this package

cd ~/catkin_ws/
catkin build
source devel/setup.bash

4. Running the node

roscore
rosrun ros_sim_template ros_sim_template 

5. Now, your Simulink model

• Repeat same steps (1.) of code generation with your model
  • It is highly recomended you reuse the Simulink model "dbx_control.slx", so Simulink configuration is already set for you
  • Deploy your generated code into a folder with same name as your Simulink model
• In file /ros_sim_template/src/ros_sim_template_node.cp:
  • Those parts of the code with ### MODIFY HERE ### would need to be modified
  • In First line substitue "dbx_control" with the name of your model. E.g.:
    • #define SIM_MOD(x) dbx_control##x would look like #define SIM_MOD(x) your_simulink_model_name##x where "your_simulink_model_name" is your Simulink mode name: E.g. #define SIM_MOD(x) Lat_control##x for a Simulink model named "Lat_control"
• (OPTIONAL) Change the name of the node, or even the package