MATLAB: Cannot Connect to ROS Master Running on Odroid XU4

MATLABRobotics System Toolbox

I am trying to connect to the ROS master running on an odroid XU4. However, whenever I try to use rosinit, I get the error: "Cannot connect to ROS master at http://172.16.0.127:11311. Check the specified address or hostname." The Odroid XU4 is running Ubuntu 16.04. I set up a static IP address of 172.16.0.127, which is verified by running the 'infconfig' command. I also ran 'echo $ROS_MASTER_URI' in Ubuntu and get 'http://172.16.0.127:11311'. It seems that everything is set up properly but matlab can't establish connection? How do I resolve this issue?

Code Run in Matlab:

rosinit('172.16.0.127')

Best Answer

I found out you need to actively run ROS on the Odroid in order to be able to connect to it to matlab. After running the command 'roscore' in the Ubuntu terminal, I was able to connect via rosinit('http://172.16.0.127:11311').

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MATLAB: Use MATLAB Robotics System Toolbox to receive ROS message

I figureed out the solution for this problem. The following steps seem to be helpful:

1. In Ubuntu PC hosts file (/etc/hosts), add the hostnames and the IP addresses of both Ubuntu PC and Windows PC

2. In Windows PC host file (/windows/system32/driver/etc/host), do the same thing as in previous step

3. Turn off all the firewalls on Window PC and Ubuntu PC (if there is any)

4. Reboot both machines to make the new host files effective

5. Set the following environment variables on Ubuntu PC

   sudo gedit ~/.bashrc

Add the following lines in .bashrc file, save and then restart terminal

   export ROS_MASTER_URI=http://Ubuntu_PC_IP:11311
   export ROS_IP=Ubuntu_PC_IP

6. On Windows MATLAB, set the environment variables for ROS:

   setenv('ROS_MASTER_URI','http://Ubuntu_PC_IP:11311')
   setenv('ROS_IP','Windows_PC_IP')
   rosinit

Then it should work. I did almost everything except Step 2, which caused the above problem. I hope this would help someone who has the similar problem.

MATLAB: Matlab ROS subscriber basic example

My problem come to multipl IP adress for my Matlab computer...

To help other persone, the configuration that work well with my Turtlebot

In my case, the IP adress are

PC with Matlab : 192.168.1.41

Turtlebot computer : 192.168.1.28

In the .bashrc, I have

source /opt/ros/indigo/setup.bash

export ROS_MASTER_URI=http//192.168.1.28:11311

export ROS_HOSTNAME=192.168.1.28

export ROS_IP=192.168.1.28

In Matlab 2 solutions are possible:

solution 1:

setenv('ROS_IP','192.168.1.41') % adress PC with Matlab

setenv('ROS_HOSTNAME','192.168.1.41')

setenv('ROS_MASTER_URI','http://192.168.1.28:11311/') % adress turtlebot

rosinit

solution 2 :

rosinit('http://192.168.1.28:11311', 'NodeHost', '192.168.1.41')

Best Answer

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