Hi Mirella,
Thanks for your question. Please feel free to comment above in case I misunderstood something.
1) Currently, mobileRobotPRM doesn't output the underlying connectivity i.e., the nodes and the edges. If it did, one could obtain the node information (the coordinates on the map). Additionally, one could also obtain all the possible paths between a start and goal location from the output graph.
2) As you rightly pointed out, in order to generate the same set of nodes, you would have to fix the random number generator. However, please note that your maps are not identical (from what I see above). Thus, during the random nodes generation, if a node is occupied, another location will be randomly chosen in the map(this ensures that there are exactly "n=100" nodes generated in the roadmap). Even if you manage to get the same set of nodes, the underlying connectivity can also be different if the edges are not free. If an iteration counter was given instead, you could probably get around this.
I shall convey these requests to the respective team and these might be incorporated in a future release of MATLAB.
Please let me know if this answers your question.
Best,
Karsh
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