demo_ros_python_matlab

Communication between different programming languages through ROS

Usage instructions

1. catkin_make
2. source devel/setup.zsh (or setup.bash)
3. Start a ROS master : roscore
4. Build custom service for MATLAB and start server : matlab_server.m
5. Run the python_client.py

Relevant information

Start with a base catkin workspace (http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)

Creating package (http://wiki.ros.org/ROS/Tutorials/CreatingPackage)

• cd src/

   catkin_create_pkg demo_package std_msgs rospy

• cd ../demo_ros_python_matlab & catkin_make

Custom message or service description (http://wiki.ros.org/msg#Building_.msg_Files)

If existing standard formats (http://wiki.ros.org/common_msgs) are not applicable

• In src/demo_package, create msg/DemoMsg.msg and srv/DemoSrv.srv
• To build them with the ROS package (http://wiki.ros.org/catkin/CMakeLists.txt#msgs_srvs_actions), edit CMakeLists.txt and package.xml and then catkin_make

Demo service and client

• Python client (http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28python%29)
• MATLAB server (https://www.mathworks.com/help/ros/ug/call-and-provide-ros-services.html)
• To add custom message / service support in MATLAB see (https://www.mathworks.com/help/ros/ref/rosgenmsg.html)