Version 2.2, part of Release 2019a, includes the following enhancements:

• Trajectory Generation: Create piecewise polynomials, trapezoidal velocity profiles, B-splines, and task-space interpolation
• Orbit Follower for UAVs: Follow a circular path around a point of interest
• Code Generation for SLAM: Generate code using LidarSLAM, PoseGraph, and PoseGraph3D objects (requires MATLAB Coder)
• MAVLink Protocol Support: Communicate with UAVs using MAVLink messages and load log files
• Model Reference Support for ROS: Use model reference in models with ROS Blocks
• SLAM Map Builder Sessions: Save and load app sessions

See the Release Notes for details.

Version 2.1, part of Release 2018b, includes the following enhancements:

• SLAM Map Builder App: Build and tune a 2-D grid map with lidar-based SLAM
• UAV Algorithms: Create UAV guidance models and 3-D path following for fixed-wing and multirotor UAVs
• Read Data Block: Play back data from a rosbag logfile in Simulink
• Inverse Kinematics Block: Calculate joint configurations for a desired end-effector pose in Simulink
• ROS Service and Current Time Blocks: Call ROS services and get the current ROS time in Simulink

See the Release Notes for details.

Version 2.0, part of Release 2018a, includes the following enhancements:

• Manipulator Algorithm Blocks: Compute rigid body tree kinematics and dynamics in Simulink
• Lidar-Based SLAM: Localize robots and build map environments using lidar sensors
• Pose Graph Data Structure and Optimization: Represent and optimize 2-D and 3-D pose graphs
• 3-D Occupancy Maps: Map 3-D environments using efficient octree data structure
• Enhanced Performance for rosbag Logfiles: Load rosbags faster and extract message data as structures

See the Release Notes for details.

Version 1.5, part of Release 2017b, includes the following enhancements:

• RigidBodyTree Visualization Improvements: Attach mesh files and inspect individual bodies in a MATLAB figure
• Coordinate Transformation Conversion Block: Convert between coordinate system representations in Simulink
• ROS Image and Point Cloud Blocks: Convert ROS messages to nonbus signals in Simulink
• Lidar Sensor Object: Store and use lidar scan data

See the Release Notes for details.

See highlights and screen shots.

Version 1.4, part of Release 2017a, includes the following enhancements:

• External Mode Support: Tune parameters and view signal values of deployed ROS nodes over TCP/IP (with Simulink Coder)
• Dynamics for Robot Manipulators: Solve inverse and forward dynamics for RigidBodyTree objects
• Generalized Inverse Kinematics: Solve multiconstrained inverse kinematics for robot manipulators
• URDF File Importer: Import URDF robot descriptions as a RigidBodyTree object
• Scan Matching: Calculate pose difference between laser scans

See the Release Notes for details.

See highlights and screen shots.

Version 1.3, part of Release 2016b, includes the following enhancements:

• Robotic Manipulator Algorithms: Represent robot manipulators using a rigid body tree and calculate forward and inverse kinematics
• Automated Deployment of ROS Nodes: Automatically deploy ROS nodes to target hardware using Simulink Coder
• Occupancy Grid Class: Build a robot environment using a 2-D occupancy map with probabilistic values
• Mobile Robot Algorithm Blocks: Perform obstacle avoidance and path following in Simulink
• ROS Action Client: Send action goals via a ROS network and get feedback on their execution

See the Release Notes for details.

See highlights and screen shots.

Version 1.2, part of Release 2016a, includes the following enhancements:

• Monte Carlo Localization Algorithm: Estimate robot location in a known map
• Particle Filter Algorithm: Estimate state for nonlinear systems
• Fixed-Rate Execution: Run MATLAB code at a constant rate
• Robotics System Toolbox Support Package for TurtleBot-Based Robots: Connect to TurtleBot hardware

See the Release Notes for details.

Version 1.0.1, part of Release 2015aSP1, includes bug fixes.

See the Release Notes for details.