{"id":44098,"date":"2025-06-17T01:42:51","date_gmt":"2025-06-16T17:42:51","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/44098.html"},"modified":"2025-06-17T01:42:51","modified_gmt":"2025-06-16T17:42:51","slug":"%e5%9c%a8matlab%e5%91%bd%e4%bb%a4%e8%a1%8c%e6%89%a7%e8%a1%8cros2node-%e5%92%8c-ros2subscriber%e5%90%8e%ef%bc%8c%e6%89%a7%e8%a1%8cros2-topic-list%ef%bc%8cmatlab%e5%8d%a1%e6%ad%bb","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/44098.html","title":{"rendered":"\u5728MATLAB\u547d\u4ee4\u884c\u6267\u884cros2node \u548c ros2subscriber\u540e\uff0c\u6267\u884cros2 topic list\uff0cMATLAB\u5361\u6b7b"},"content":{"rendered":"<h2>\u63d0\u95ee<\/h2>\n<p>setenv(\u2018ROS_DOMAIN_ID\u2019,\u20185\u2019) node &#061; ros2node(\u201ctest_node\u201d); sub &#061; ros2subscriber(node, \u201c\/topic_state\u201d, \u201cpid_interfaces\/Command\u201d);<\/p>\n<p>\u6211\u6267\u884c\u4e0a\u9762\u7684\u547d\u4ee4&#xff0c;\u90fd\u662f\u6b63\u5e38\u7684&#xff0c;\u76f4\u5230\u7d27\u63a5\u7740\u6267\u884c\u4e0b\u9762\u7684\u547d\u4ee4&#xff1a;<\/p>\n<p>ros2 topic list<\/p>\n<p>\u7136\u540eMATLAB\u5c31\u4e00\u76f4\u5904\u4e8ebusy\u3002 \u65e0\u6cd5\u5b8c\u6210\u3002 \u8fd9\u662f\u4e3a\u4ec0\u4e48&#xff1f;<\/p>\n<h2>\u56de\u7b54<\/h2>\n<p>\u4f60\u73b0\u5728\u9047\u5230\u7684\u662f\u4e00\u4e2aMATLAB \u5728\u8c03\u7528 ROS 2 \u76f8\u5173 API \u65f6\u9677\u5165\u5361\u6b7b&#xff08;busy \u72b6\u6001&#xff09;\u7684\u95ee\u9898&#xff0c;\u8fd9\u7c7b\u95ee\u9898\u901a\u5e38\u4e0e DDS \u901a\u4fe1\u5c42\u963b\u585e\u6216\u51b2\u7a81 \u6709\u5173&#xff0c;\u4e0b\u9762\u662f\u9488\u5bf9\u4f60\u60c5\u51b5\u7684\u6df1\u5ea6\u5206\u6790&#xff1a;<\/p>\n<hr \/>\n<h3>&#x1f9e0; \u73b0\u8c61\u5206\u6790&#xff1a;<\/h3>\n<p>\u4f60\u6210\u529f\u6267\u884c\u4e86&#xff1a;<\/p>\n<p><span class=\"token function\">setenv<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;ROS_DOMAIN_ID&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;5&#039;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nnode <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">ros2node<\/span><span class=\"token punctuation\">(<\/span>&#034;test_node&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nsub <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">ros2subscriber<\/span><span class=\"token punctuation\">(<\/span>node<span class=\"token punctuation\">,<\/span> &#034;<span class=\"token operator\">\/<\/span>topic_state&#034;<span class=\"token punctuation\">,<\/span> &#034;pid_interfaces<span class=\"token operator\">\/<\/span>Command&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u7136\u540e\u4e00\u65e6\u6267\u884c&#xff1a;<\/p>\n<p>ros2 topic list<\/p>\n<p>MATLAB \u5361\u4f4f&#xff0c;\u8fdb\u5165 busy&#xff0c;\u751a\u81f3\u5fc5\u987b\u5f3a\u5236\u7ec8\u6b62\u3002<\/p>\n<hr \/>\n<h3>\u2705 \u521d\u6b65\u7ed3\u8bba&#xff1a;<\/h3>\n<p>\u8fd9\u662f\u4e00\u4e2a DDS \u8282\u70b9\/\u53d1\u73b0\u5c42\u963b\u585e\u6b7b\u9501\u6216\u8d44\u6e90\u7ade\u4e89 \u95ee\u9898\u3002<\/p>\n<h5>\u2714 \u4e3a\u4ec0\u4e48\u4f1a\u8fd9\u6837&#xff1f;<\/h5>\n<ul>\n<li>\n<p>ros2node \u548c ros2subscriber \u90fd\u4f1a\u521d\u59cb\u5316 ROS 2 runtime \u548c\u5e95\u5c42 DDS \u5b9e\u4f8b&#xff08;Fast DDS&#xff09;<\/p>\n<\/li>\n<li>\n<p>ros2 topic list \u8c03\u7528\u53c8\u8bd5\u56fe\u521d\u59cb\u5316 \u53e6\u4e00\u4e2a\u8282\u70b9\u6216\u8bbf\u95ee ROS graph<\/p>\n<\/li>\n<li>\n<p>\u5982\u679c&#xff1a;<\/p>\n<ul>\n<li>DDS participant \u4e92\u76f8\u51b2\u7a81&#xff08;\u5171\u4eab\u8d44\u6e90&#xff09;<\/li>\n<li>\u5e95\u5c42 DDS \u5b9e\u73b0&#xff08;\u5982 FastDDS&#xff09;\u6709\u7ebf\u7a0b\u6b7b\u9501\u98ce\u9669<\/li>\n<li>\u81ea\u5b9a\u4e49\u6d88\u606f\u672a\u6b63\u786e\u5b9a\u4e49\u6216\u672a\u6ce8\u518c&#xff08;\u7279\u522b\u662f pid_interfaces\/Command&#xff09;<\/li>\n<li>\u7aef\u53e3\/\u8d44\u6e90&#xff08;\u5982 multicast \u5730\u5740&#xff09;\u5df2\u88ab\u5360\u7528\u6216\u7ed1\u5b9a\u5f02\u5e38 \u90a3\u4e48\u5728\u8c03\u7528 ros2 topic list \u65f6&#xff0c;DDS discovery \u9636\u6bb5\u5c31\u4f1a\u963b\u585e&#xff0c;\u9020\u6210 MATLAB \u5361\u6b7b<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr \/>\n<h3>\u2705 \u5bf9\u7b56\u5efa\u8bae&#xff1a;<\/h3>\n<h4>\u2705 \u4e00&#xff1a;\u907f\u514d\u6df7\u7528 ros2subscriber \u548c ros2 topic list<\/h4>\n<p>\u4f60\u5df2\u7ecf\u521b\u5efa\u4e86\u4e00\u4e2a ros2node \u548c ros2subscriber&#xff0c;\u8fd9\u4e9b\u5df2\u7ecf\u542f\u52a8\u4e86\u4e00\u4e2a DDS \u4f1a\u8bdd\u3002 \u6b64\u65f6\u4e0d\u8981\u518d\u7528 ros2 topic list \u547d\u4ee4\u53bb\u89e6\u53d1\u53e6\u4e00\u4e2a DDS Graph API \u64cd\u4f5c&#xff0c;\u5efa\u8bae\u8c03\u8bd5\u8fc7\u7a0b\u53ea\u4f7f\u7528\u4e00\u7c7b API&#xff0c;\u5426\u5219\u4f1a\u51fa\u73b0 DDS \u6b7b\u9501\u3002<\/p>\n<p>\u2757\ufe0f\u63a8\u8350\u505a\u6cd5\u662f&#xff1a;\u5148\u7528 ros2 topic list&#xff0c;\u518d\u6784\u5efa ros2subscriber<\/p>\n<hr \/>\n<h4>\u2705 \u4e8c&#xff1a;\u6362\u4e00\u79cd\u65b9\u5f0f\u9a8c\u8bc1\u8bdd\u9898\u662f\u5426\u6536\u5230<\/h4>\n<p>\u6bd4\u5982\u4f60\u5df2\u7ecf\u5efa\u7acb\u4e86 subscriber&#xff0c;\u90a3\u5c31\u76f4\u63a5&#xff1a;<\/p>\n<p>msg <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">receive<\/span><span class=\"token punctuation\">(<\/span>sub<span class=\"token punctuation\">,<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<ul>\n<li>\u5982\u679c 5 \u79d2\u5185\u80fd\u6536\u5230\u6d88\u606f&#xff0c;\u8bf4\u660e\u8fde\u63a5\u4e00\u5207\u6b63\u5e38<\/li>\n<li>\u5982\u679c 5 \u79d2\u540e\u62a5\u8d85\u65f6&#xff08;Timeout while receiving&#xff09;&#xff0c;\u8bf4\u660e\u8ba2\u9605\u5efa\u7acb\u4f46\u6ca1\u6709\u5b9e\u9645\u6536\u5230\u6d88\u606f&#xff08;\u8981\u4e48\u53d1\u592a\u6162&#xff0c;\u8981\u4e48\u6d88\u606f\u7c7b\u578b\u4e0d\u5339\u914d&#xff09;<\/li>\n<\/ul>\n<hr \/>\n<h4>\u2705 \u4e09&#xff1a;\u5efa\u8bae\u4f60\u6267\u884c\u4ee5\u4e0b\u6d4b\u8bd5\u811a\u672c<\/h4>\n<p>\u628a\u4e0b\u9762\u7684\u64cd\u4f5c\u6d41\u7a0b\u5f53\u4f5c\u201c\u9ec4\u91d1\u9a8c\u8bc1\u8def\u5f84\u201d&#xff0c;\u53ea\u4f7f\u7528\u4e00\u6b21 DDS \u521d\u59cb\u5316&#xff0c;\u907f\u514d\u6df7\u7528 MATLAB API \u548c CLI \u547d\u4ee4&#xff1a;<\/p>\n<p><span class=\"token comment\">% \u786e\u4fdd\u73af\u5883\u53d8\u91cf\u8bbe\u7f6e\u6b63\u786e<\/span><br \/>\n<span class=\"token function\">setenv<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;ROS_DOMAIN_ID&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;5&#039;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">% \u521b\u5efa\u8282\u70b9<\/span><br \/>\nnode <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">ros2node<\/span><span class=\"token punctuation\">(<\/span>&#034;sim_debug&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">% \u5217\u51fa\u8bdd\u9898&#xff08;\u63a8\u8350\u5148\u505a\u8fd9\u4e2a&#xff09;<\/span><br \/>\n<span class=\"token function\">disp<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">ros2topic<\/span><span class=\"token punctuation\">(<\/span>&#034;list&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">% \u5982\u679c\u8fd9\u91cc\u4e0d\u5361\u6b7b&#xff0c;\u8bf4\u660e DDS OK<\/span><\/p>\n<p><span class=\"token comment\">% \u521b\u5efa\u8ba2\u9605\u8005<\/span><br \/>\nsub <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">ros2subscriber<\/span><span class=\"token punctuation\">(<\/span>node<span class=\"token punctuation\">,<\/span> &#034;<span class=\"token operator\">\/<\/span>topic_state&#034;<span class=\"token punctuation\">,<\/span> &#034;pid_interfaces<span class=\"token operator\">\/<\/span>Command&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">% \u63a5\u6536\u6d88\u606f<\/span><br \/>\nmsg <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">receive<\/span><span class=\"token punctuation\">(<\/span>sub<span class=\"token punctuation\">,<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">disp<\/span><span class=\"token punctuation\">(<\/span>msg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<hr \/>\n<h4>\u2705 \u56db&#xff1a;\u9632\u6b62\u5361\u6b7b\u5efa\u8bae<\/h4>\n<p>\u5982\u679c\u4f60\u5df2\u7ecf\u5361\u6b7b\u8fc7&#xff0c;\u5efa\u8bae\u4f60\u6267\u884c\u4ee5\u4e0b\u6e05\u7406\u52a8\u4f5c\u540e\u91cd\u8bd5&#xff1a;<\/p>\n<li>\n<p>\u91cd\u542f MATLAB<\/p>\n<\/li>\n<li>\n<p>\u5173\u95ed\u6240\u6709\u540e\u53f0\u7684 ros2 daemon&#xff08;Linux \u7aef\u6267\u884c ros2 daemon stop&#xff09;<\/p>\n<\/li>\n<li>\n<p>\u5220\u9664 DDS \u7f13\u5b58&#xff1a;<\/p>\n<ul>\n<li>Windows: %LocalAppData%\\\\Temp\\\\fastrtps* \u7b49\u7f13\u5b58\u6587\u4ef6<\/li>\n<li>Linux: ~\/.ros \u6216 ~\/.dds \u76f8\u5173\u7f13\u5b58<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u786e\u4fdd Linux \u548c Windows \u4f7f\u7528\u76f8\u540c\u7684 RMW \u5b9e\u73b0&#xff08;\u5982\u90fd\u662f rmw_fastrtps_cpp&#xff09;<\/p>\n<\/li>\n<li>\n<p>\u786e\u4fdd Windows \u9632\u706b\u5899\u5f7b\u5e95\u5173\u95ed&#xff0c;\u6216\u8005\u660e\u786e\u653e\u901a UDP \u591a\u64ad\u7aef\u53e3&#xff08;7400\/7410&#xff09;<\/p>\n<\/li>\n<hr \/>\n<h4>\u2705 \u4e94&#xff1a;\u53c2\u8003\u5df2\u77e5\u95ee\u9898<\/h4>\n<ul>\n<li>MathWorks \u5df2\u77e5\u95ee\u9898\u62a5\u544a<\/li>\n<li>\u5b98\u65b9\u5efa\u8bae\u5728\u67d0\u4e9b\u7248\u672c\u4e2d\u907f\u514d\u5728 node active \u65f6\u4f7f\u7528 ros2 CLI \u547d\u4ee4<\/li>\n<li>\u6216\u8005\u901a\u8fc7 clear all \u6e05\u9664\u6240\u6709 ROS \u8282\u70b9&#xff0c;\u518d\u6267\u884c ros2 topic list \u4e5f\u53ef\u907f\u514d\u51b2\u7a81<\/li>\n<\/ul>\n<hr \/>\n<h3>\u2705 \u603b\u7ed3<\/h3>\n<table>\n<tr>\u7ed3\u8bba\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>\u4e0d\u5efa\u8bae\u5728\u5df2\u6709 ros2node \u548c ros2subscriber \u7684\u4f1a\u8bdd\u4e2d\u4f7f\u7528 ros2 topic list<\/td>\n<td>\u4f1a\u89e6\u53d1 DDS \u5c42\u51b2\u7a81\u6216\u963b\u585e<\/td>\n<\/tr>\n<tr>\n<td>\u5efa\u8bae\u5148\u4f7f\u7528 ros2 topic list&#xff0c;\u518d\u521d\u59cb\u5316\u8282\u70b9\/\u8ba2\u9605\u8005<\/td>\n<td>\u907f\u514d DDS \u51b2\u7a81<\/td>\n<\/tr>\n<tr>\n<td>\u4f60\u5f53\u524d\u95ee\u9898\u6781\u53ef\u80fd\u662f DDS participant \u91cd\u590d\u6216\u7ebf\u7a0b\u8d44\u6e90\u6b7b\u9501<\/td>\n<td>\u5e76\u975e Simulink \u95ee\u9898&#xff0c;\u800c\u662f\u5e95\u5c42\u901a\u4fe1\u8d44\u6e90\u672a\u6b63\u786e\u91ca\u653e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<p>\u662f\u5426\u9700\u8981\u6211\u5e2e\u4f60\u5199\u4e2a\u81ea\u52a8\u5316\u6d4b\u8bd5\u811a\u672c&#xff08;\u81ea\u52a8\u521d\u59cb\u5316\u8282\u70b9\u3001\u8ba2\u9605\u3001\u63a5\u6536\u5e76\u6253\u5370\u6d88\u606f&#xff09;&#xff0c;\u65b9\u4fbf\u4f60\u4ee5\u540e\u6392\u67e5\u8fd9\u7c7b\u95ee\u9898&#xff1f;<\/p>\n<h2>\u7ee7\u7eed\u63d0\u95ee<\/h2>\n<p>\u4e3a\u4ec0\u4e48\u4f7f\u7528\u4e86 setenv(\u2018ROS_DOMAIN_ID\u2019,\u20185\u2019) node &#061; ros2node(\u201ctest_node\u201d); sub &#061; ros2subscriber(node, \u201c\/topic_state\u201d, \u201cpid_interfaces\/Command\u201d);<\/p>\n<p>\u4ee5\u540e&#xff0c;\u8fde\u6253\u5f00simulink\u90fd\u53d8\u5f97\u5f88\u6162&#xff1f;\u5982\u4f55\u53d6\u6d88\u8282\u70b9&#xff1f;<\/p>\n<h2>\u56de\u7b54<\/h2>\n<p>\u4f60\u53d1\u73b0 \u4f7f\u7528\u4e86 ros2node \u548c ros2subscriber \u540e&#xff0c;\u8fde\u6253\u5f00 Simulink \u90fd\u53d8\u5f97\u5f88\u6162&#xff0c;\u8fd9\u4e2a\u73b0\u8c61\u786e\u5b9e\u5b58\u5728&#xff0c;\u5e76\u4e14\u662f\u53ef\u4ee5\u89e3\u91ca\u7684&#xff1a;<\/p>\n<hr \/>\n<h3>&#x1f9e0; \u95ee\u9898\u6839\u6e90&#xff1a;ROS 2 \u8282\u70b9\u963b\u585e DDS \u7f51\u7edc\u7ebf\u7a0b\u8d44\u6e90<\/h3>\n<p>\u6267\u884c&#xff1a;<\/p>\n<p><span class=\"token function\">setenv<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;ROS_DOMAIN_ID&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;5&#039;<\/span><span class=\"token punctuation\">)<\/span><br \/>\nnode <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">ros2node<\/span><span class=\"token punctuation\">(<\/span>&#034;test_node&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nsub <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">ros2subscriber<\/span><span class=\"token punctuation\">(<\/span>node<span class=\"token punctuation\">,<\/span> &#034;<span class=\"token operator\">\/<\/span>topic_state&#034;<span class=\"token punctuation\">,<\/span> &#034;pid_interfaces<span class=\"token operator\">\/<\/span>Command&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u5b9e\u9645\u4e0a\u4f1a\u5e38\u9a7b\u542f\u52a8\u4e00\u4e2a ROS 2 \u8282\u70b9&#xff0c;\u8fd9\u4e2a\u8282\u70b9&#xff1a;<\/p>\n<ul>\n<li>\u4f1a\u5f00\u542f\u5e95\u5c42 DDS participant&#xff08;Fast DDS&#xff09;<\/li>\n<li>\u4f1a\u5360\u7528\u7ebf\u7a0b\u3001UDP\u7aef\u53e3\u3001\u591a\u64ad\u8d44\u6e90<\/li>\n<li>\u4f1a\u6301\u7eed\u5c1d\u8bd5\u201c\u53d1\u73b0\u201d\u8fdc\u7a0b\u53c2\u4e0e\u8005&#xff0c;\u5c24\u5176\u5982\u679c\u8fdc\u7aef\u4e0d\u56de\u5e94&#xff0c;\u5c31\u4f1a\u4e0d\u65ad\u91cd\u8bd5&#xff0c;\u6d88\u8017 CPU &#043; \u7f51\u7edc\u5806\u6808\u8d44\u6e90<\/li>\n<\/ul>\n<p>\u4e8e\u662f\u5c31\u5bfc\u81f4&#xff1a;<\/p>\n<table>\n<tr>\u73b0\u8c61\u539f\u56e0<\/tr>\n<tbody>\n<tr>\n<td>Simulink \u6253\u5f00\u6162<\/td>\n<td>Simulink \u5728\u542f\u52a8\u65f6\u4e5f\u4f1a\u5c1d\u8bd5\u521d\u59cb\u5316 ROS 2 \u5b50\u7cfb\u7edf&#xff0c;\u7ed3\u679c\u88ab\u5f53\u524d DDS participant \u963b\u585e<\/td>\n<\/tr>\n<tr>\n<td>MATLAB \u8fd0\u884c\u6162<\/td>\n<td>ROS2 \u8282\u70b9\u5185\u90e8\u6709 I\/O \u7ebf\u7a0b\u548c discovery loop&#xff0c;\u6301\u7eed\u5360\u8d44\u6e90<\/td>\n<\/tr>\n<tr>\n<td>\u591a\u6b21\u8fd0\u884c ros2node \u540e\u5361\u6b7b<\/td>\n<td>participant \u6ca1\u6709\u53ca\u65f6\u91ca\u653e&#xff0c;\u5806\u79ef\u6210\u201c\u5e7d\u7075\u8282\u70b9\u201d<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h3>\u2705 \u5982\u4f55\u91ca\u653e\u548c\u53d6\u6d88\u8282\u70b9<\/h3>\n<p>\u4f60\u53ef\u4ee5\u4f7f\u7528\u4e0b\u9762\u547d\u4ee4\u7acb\u5373\u91ca\u653e\u6240\u6709 ROS 2 \u8d44\u6e90&#xff1a;<\/p>\n<p>clear node sub<\/p>\n<p>\u5982\u679c\u4f60\u8fd8\u7528\u4e86\u591a\u4e2a\u53d8\u91cf&#xff1a;<\/p>\n<p>clear all<\/p>\n<p>\u7136\u540e\u518d\u6267\u884c&#xff1a;<\/p>\n<p>ros2 reset<\/p>\n<p>\u8fd9\u5c06\u5f7b\u5e95\u6e05\u9664 MATLAB \u5f53\u524d\u4f1a\u8bdd\u4e2d\u7684\u6240\u6709 ROS 2 DDS participant \u548c\u7f13\u5b58\u3002<\/p>\n<hr \/>\n<h3>\u2705 \u8865\u5145\u63a8\u8350\u64cd\u4f5c<\/h3>\n<p>\u5982\u679c\u4f60\u5df2\u7ecf\u6267\u884c\u8fc7 ros2node \u7b49\u547d\u4ee4&#xff0c;\u5efa\u8bae\u5728\u6253\u5f00 Simulink \u524d\u5148\u505a\u8fd9\u4e24\u4ef6\u4e8b&#xff1a;<\/p>\n<p>clear all<br \/>\nros2 reset<\/p>\n<p>\u7136\u540e\u518d\u6253\u5f00 Simulink&#xff0c;\u901f\u5ea6\u4f1a\u660e\u663e\u6062\u590d\u3002<\/p>\n<hr \/>\n<h3>\u2705 \u6301\u4e45\u4f18\u5316\u5efa\u8bae<\/h3>\n<h4>1. \u517b\u6210\u4e60\u60ef&#xff1a;\u6d4b\u8bd5\u5b8c ROS2 \u540e\u6e05\u7406\u8d44\u6e90<\/h4>\n<p>clear node sub<br \/>\nros2 reset<\/p>\n<h4>2. \u907f\u514d\u5728 MATLAB \u542f\u52a8\u540e\u7acb\u5373\u6267\u884c\u591a\u4e2a ROS2 \u8282\u70b9&#xff08;\u4f1a\u62d6\u6162\u521d\u59cb\u5316&#xff09;<\/h4>\n<h4>3. \u5982\u679c\u4f60\u8c03\u8bd5\u9891\u7e41&#xff0c;\u53ef\u5199\u4e2a\u201c\u6e05\u7406\u5c0f\u811a\u672c\u201d&#xff1a;<\/h4>\n<p><span class=\"token keyword\">function<\/span> <span class=\"token function\">cleanup_ros2<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">try<\/span><br \/>\n        clear all<span class=\"token punctuation\">;<\/span><br \/>\n        ros2 reset<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">disp<\/span><span class=\"token punctuation\">(<\/span>&#034;\u2705 \u5df2\u6e05\u7406 ROS2 \u8282\u70b9\u548c DDS participant&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">catch<\/span><br \/>\n        <span class=\"token function\">disp<\/span><span class=\"token punctuation\">(<\/span>&#034;\u26a0\ufe0f \u65e0 ROS2 \u8282\u70b9\u6b63\u5728\u8fd0\u884c&#034;<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">end<\/span><br \/>\n<span class=\"token keyword\">end<\/span><\/p>\n<hr \/>\n<h3>\u2705 \u603b\u7ed3<\/h3>\n<table>\n<tr>\u4f60\u505a\u4e86\u4ec0\u4e48&#xff1f;\u53d1\u751f\u4e86\u4ec0\u4e48&#xff1f;<\/tr>\n<tbody>\n<tr>\n<td>\u6267\u884c ros2node \u548c ros2subscriber<\/td>\n<td>\u542f\u52a8 ROS 2 DDS 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