MATLAB & Simulink

ROBOTICS

Designing Robotics Algorithms in MATLAB

Course Highlights

This one-day course is for engineers designing mobile robotics algorithms for Robot Operating System (ROS) enabled simulators and robots. Topics include:

 

  • Listing the design workflows possible with Robotics System Toolbox™

  • Communicating with ROS and Gazebo

  • Building and testing mobile robotics algorithms

  • Designing algorithms for execution and data sharing

Prerequisites

Attended "Comprehensive MATLAB" or having working experience with MATLAB and basic knowledge of Robot Operating System (ROS).

Course Outline

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Day 1 of 1

Connecting to Robot Operating System (ROS)

 

Objective: Exchange data between MATLAB and ROS environments.

  • Starting and shutting down ROS

  • Subscribing to topics

  • Publishing messages to topics

  • Requesting and providing services

 

Building Closed-Loop Algorithms

 

Objective: Design a simple motion planning algorithm in MATLAB using data from ROS.

  • Creating a waypoint following algorithm

  • Testing algorithms in MATLAB

  • Testing algorithms in ROS enabled robots and simulators

 

Design Considerations

 

Objective: Explore different methods to control the execution and data transfer of algorithms.

  • Creating event-based algorithms

  • Executing algorithms at a fixed rate

  • Sharing data

 

Incorporating Built-In Algorithms

 

Objective: Use mobile robotics algorithms included with Robotics System Toolbox.

  • Building an occupancy grid

  • Creating a probabilistic roadmap

  • Tracking a path with the pure pursuit algorithm

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