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Kortex System Object Setup Guide

Overview

Matlab Setup

  1. Open the mex-wrapper sub-folder in Matlab
  2. Add the matlab_api folder and its sub-folders to the Matlab path
  3. Open the example_model.slx Simulink model

Interpreted Execution

  1. Run compileKortexMex.m

  2. Edit both kortex and kObjTrajectoryFeeder Simulink objects with Kinova Robot information

  3. In Simulink, click on Run in the Simulate tab

    alt text

ROS2 Code Generation on Jetson Target

  1. Edit the rosTargetPreferences.m file with Jetson parameters

    Jetson Parameters

  2. Run configKortexModelROS2.m

  3. Edit both kortex and kObjTrajectoryFeeder Simulink objects with Kinova Robot information

    Configuration

  4. Open the Robot tab in Simulink

  5. Select the ROS2 framework

  6. Click on Build & Run

    Build & Run

The Build & Run will additionally do the following:

  1. Transfer the generated ROS2 package directly on the Jetson target
  2. Compile on the Jetson target (using Colcon tools)
  3. Run the compiled ROS2 package on the Jetson Target