In the previous sections, we discussed how to interact with ROS using MATLAB. In this section, we are going to use another powerful tool of MATLAB: Simulink. Simulink is a graphical programming environment for modeling, simulating, and analyzing dynamical systems. We can use Simulink to create a model of a system and simulate its behavior over time.
In this section, we will start creating a first simple system outer from the ROS framework. We will also discuss how to develop a ROS application using Simulink.
To model a new system, let's start by opening Simulink. We can open it by typing the following command in the Command Window
:
>> Simulink
Then, you should choose to create a new blank model. To create a new system, we must import the desired Simulink blocks that will compose it. These blocks can be directly dragged and dropped into the model window from the Library Browser
. To open the Library Browser...