ROS_Kinetic_16 ubuntu(16.04)中安裝使用Matlab(2015b)和ROS(kinetic)
參考網址:http://cn.mathworks.com/hardware-support/robot-operating-system.html?requestedDomain=www.mathworks.com#
http://cn.mathworks.com/help/robotics/examples/get-started-with-ros.html
1 Matlab安裝
掛載iso鏡像:
~$ cd /media/
/media$ sudo mkdir dvdrom0
/media$ sudo mount /home/relaybot/下載/R2015b_glnxa64.iso /media/dvdrom0 -o loop
/media$ cd dvdrom0
/media/dvdrom0$ sudo ./install
初次使用過程會遇到一些問題,可以參考:
/content/980734.html
~$ cd /usr/local/MATLAB/R2015b/sys/os/glnxa64/
/usr/local/MATLAB/R2015b/sys/os/glnxa64$ sudo ln -sf /usr/lib/x86_64-linux-gnu/libgfortran.so.3.0.0 libgfortran.so.3
/usr/local/MATLAB/R2015b/sys/os/glnxa64$ sudo ln -sf /usr/lib/x86_64-linux-gnu/libquadmath.so.0.0.0 libquadmath.so.0
/usr/local/MATLAB/R2015b/sys/os/glnxa64$ sudo ln -sf /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 libstdc++.so.6
如果啟動Matlab,顯示有顯卡硬件不識別的錯誤,請使用(二選一):
~$ matlab -softwareopengl
~$ matlab -nodesktop
具體可以參考:
http://cn.mathworks.com/matlabcentral/answers/242325-matlab-2015b-crashes-on-startup-on-kubuntu-15-04
http://askubuntu.com/questions/765455/how-to-run-matlab-2016a-with-nvidia-drivers-of-gtx-960-in-ubuntu-16-04/767231
2 使用Matlab和ROS
可以參考官方:http://cn.mathworks.com/help/robotics/robot-operating-system-ros.html
csdn:http://blog.csdn.net/zyh821351004/article/details/51124658
matlab啟動和關閉ROS:
>>rosinit
>>rosshutdown
可以啟動手機APP遙控小海龜,具體截圖如下:
更多詳細使用,請參考官網教程:
http://cn.mathworks.com/help/robotics/examples/connect-to-a-ros-network.html