www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/ConnectingToMultipleROSNodesUsingNodeObjectsExample.m
%% Create Multiple ROS Nodes % Create multiple ROS nodes. Use the % |Node| object with publishers, subscribers, and other ROS functionality % to specify with which node you are connecting to. % Copyright 2015 The MathWorks, Inc. %% % Create a ROS master. master = robotics.ros.Core; %% % Initialize multiple nodes. node1 = robotics.ros.Node('/test_node_1'); node2 = robotics.ros.Node('/test_node_2'); %% % Use these nodes to perform seperate operations and send seperate % messages. A message published by |node1| can be accessed by a subscriber % running in |node2|. pub = robotics.ros.Publisher(node1,'/chatter','std_msgs/String'); sub = robotics.ros.Subscriber(node2,'/chatter','std_msgs/String'); msg = rosmessage('std_msgs/String'); msg.Data = 'Message from Node 1'; %% % Send a message from |node1|. The subscriber attached to |node2| will receive % the message. send(pub,msg) % Sent from node 1 pause(1) % Wait for message to update sub.LatestMessage %% % Clear the ROS network of publisher, subscriber, and nodes. Delete the |Core| % object to shut down the ROS master. clear('pub','sub','node1','node2') clear('master')