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How to implement custom control structure(Designed in Simulink) using moveit?

asked 2022-01-26 07:25:56 -0500

Bhavik gravatar image

I am working with scara robot and i have to implement custom control structure designed in MATLAB-simulink and i wanted to test my control algorithm for scara robot. I have used joint state controllers for demo purpose. I am not sure how to implement further because i am new to ros. Can anyone tell procedure ?

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answered 2022-01-27 15:02:05 -0500

osilva gravatar image

updated 2022-01-27 15:02:17 -0500

Hi @Bhavik

Consider this a partial answer as I don't know how to a full connection to your specific robot application, but this is how I will approach it.

There is a lot of information for connecting Simulink to Matlab scripts and it's outside scope of the forum and I sense you already have experience with it. One example:

To start with, I will first work on this wonderful tutorial that shows how to perform ROS Controls with Matlab to control a PR2 arms:

The tutorial it will help you understand how to the basics of ROS control.

But if you want to learn ROS and learn more about using Matlab and ROS, I'd recommend to purchase this book:

Mastering ROS for Robotics Programming Third Edition Best practices and troubleshooting solutions   when working with ROS Lentin Joseph Jonathan Cacace

Chapter 14: Using ROS in MATLAB and Simulink

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Asked: 2022-01-26 07:25:56 -0500

Seen: 35 times

Last updated: Jan 27