Mustafa Özçelikörs

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MATLAB-ROS Interface

Download from: https://github.com/mozcelikors/Matlab-Ros-Interface/

About Project

Matlab-Ros-Interface is a MATLAB graphical interface that communicates with rosbridge server in order to communicate between MATLAB and ROS. web-matlab-bridge, Java-WebSocket and jsonlab libraries and softwares are used in order to achieve MATLAB-ROS connection with MATLAB GUI.

The program uses an infrastructure as illustrated below:

System uses HTML5 WebSockets in order to connect to remote server and can simulate the velocities, pid parameters, position, and time datas extracted from ROS topics, besides publishing.

System also has user friendly graphical interface that has help section, which helps user choose the data types correctly.

 

Disclaimer

With Matlab-Ros-Interface project; web-matlab-bridge, Java-WebSocket and jsonlab libraries and software are used in order to achieve MATLAB-ROS connection with MATLAB GUI.

This project is developed by Mustafa Ozcelikors. Please use the disclaimer note as is, while using the project. For any problems or suggestions, please contact me using

Email: mozcelikors@gmail.com

Webpage: http://www.thewebblog.net

 

System Requirements

MATLAB R2010b or greater

Java 1.6 (SE6)

NOTE: MATLAB has compatibility problems with Java 1.7

 

Installation Instructions (Linux)

1) Install JDK using

sudo apt-get install openjdk-6-jdk

2) Install JRE using

sudo apt-get install openjdk-6-jre

3) Clone the repository to your MATLAB home folder

4) Execute "gedit `locate classpath.txt` to open your MATLAB static classpath include file.

5) Add Java-WebSocket/dist/java_websocket.jar line to the classpath.txt

6) Start MATLAB

 

Installation Instructions (Windows)

1) Install JRE 6 and JDK 1.6 to your computer from Oracle website.

2) Configure system variables in order to make MATLAB recognise Java libraries:

PATH .......; C:\Program Files\Java<JDK_Version>\bin

JAVA_HOME C:\Program Files\Java<JDK_Version>

MATLAB_JAVA C:\Program Files\Java\jre6

3) Clone the files provided to your MATLAB home folder.

4) Copy the java_websocket.jar file in /win folder into /Java-WebSocket/dist/ and overwrite.

5) Open MATLAB and type "edit 'classpath.txt'".

6) Add the path /Java-WebSocket/dist/java_websocket.jar into the text file.

7) Restart MATLAB

 

Running The Client

To run the client, start untitled.m GUI file in MATLAB.

 

Rosbridge Server Installation & Running

To install rosbridge server to ROS Hydro,

sudo apt-get install git

cd ~/catkin_ws/src/

git clone https://github.com/RobotWebTools/rosbridge_suite.git

cd ~/catkin_ws/

catkin_make

To install rosbridge server to ROS Groovy,

sudo apt-get install git

cd ~/catkin_ws/src

git clone https://github.com/RobotWebTools/rosbridge_suite.git -b groovy-devel

cd ~/catkin_ws/

catkin_make

To start rosbridge server,

cd ~/catkin_ws/src/rosbridge_suite/rosbridge_server/scripts/

./rosbridge_websocket

 


Designed by mozcelikors