RoboCup@Home Education Workshop

MATLAB and Simulink Files

Copyright 2018-2019 The MathWorks, Inc.

Getting Started

To follow along this material, we recommend watching the video playlist on YouTube.

First, run the startWorkshop script to set up your environment.

Take a look at rosCommands.txt for some of the ROS nodes that need to be running to work with this example.

Finally, open the ROS Configuration app by typing rosConfigurationApp. Modify this with your robot’s IP address and topic names as needed.

Folder and File Information

Refer to the folder-specific README files for more detailed information on each folder.

IntroROS

Introduction to communicating with a ROS enabled robot. Start here to learn how to use MATLAB, Simulink, and ROS to interface with your robot.

Speech

All files pertaining to speech detection and synthesis.

Navigation

All files pertaining to autonomous navigation (localization, mapping, path planning, and path following).

Vision

All files associated with perception, including processing of color images, depth images, and point clouds, using classical techniques all the way through deep learning.

Manipulation

Inverse kinematics and robot arm control using ROS interface to Dynamixel motors.

Logic

IN PROGRESS: Examples using Stateflow for building state machines to model robot behavior. This functionality requires MATLAB R2019a or later.

• simpleBehavior.sfx - Chart that represents simple finite-state machine
• testSimpleBehavior.m - Script to execute the chart above and test its behavior

Tasks

Contains specialized service robotics tasks that serve as examples for performing the RoboCup@Home Education Challenge tasks.

• depth_follower - Simulink model that uses depth camera information to follow a person. Can be deployed as a standalone ROS node.
• speech_person - MATLAB based service robot application developed at European RoboCup@Home Education 2019
• statemachine - Stateflow based service robot application