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Interfacing RotorS through Matlab
As described here, the MathWorks Robotics System Toolbox™ provides algorithms and hardware connectivity for developing autonomous robotics applications for aerial and ground vehicles, manipulators, and humanoid robots.
The system toolbox provides an interface between MATLAB® and Simulink® and the Robot Operating System (ROS) that enables you to test and verify applications on ROS-enabled robots and robot simulators such as Gazebo. It includes examples showing how to work with virtual robots in Gazebo and with actual ROS-enabled robots.
Robotics System Toolbox supports C++ code generation, enabling you to generate a ROS node from a Simulink model and automatically deploy it to a ROS network. Support for Simulink external mode lets you view signals and change parameters while your deployed model is running.