Configuration of ROS Toolbox through CLI?

Hello everyone,

my main question is in the title. For reference, I want to create a docker container running matlab to generate some standalone ROS2 nodes. This works fine until I have to set the path to the Python-executable. It seems to be only possible through the GUI. Am I mistaken here and is there maybe a way to set the executable and create the venv via CLI commands?

Best regards,

Sönke

Answer 1

[Divyam]

Hi @Sönke,

If you wish to set the python environment for MATLAB sessions, you can start MATLAB in CLI mode and then use the "pyenv" function to select and load a Python interpreter.

% System Command
matlab -nodisplay -r "command"
% MATLAB Command
pyenv('Version', '<path-to-python>');

Alternatively, you could also use the "system" function to execute shell commands and create a virtual environment with the specific Python interpreter.

% Create a virtual environment
system('python -m venv <path-to-venv>');

% Activate the virtual environment
system('source <path-to-venv-bin-activate>');

To automate this process, the following Dockerfile template can be followed:

FROM <matlab version>

# Install Python and other dependencies
RUN <apt-get and apt-install>

# Copy your MATLAB script into the container
COPY your_script.m <path-to-your-script>

# Set the entrypoint to run MATLAB with your script
ENTRYPOINT ["matlab", "-nodisplay", "-r", "your_script"]

For more information regarding the "pyenv" function, refer to this documentation: https://www.mathworks.com/help/matlab/ref/pyenv.html

For more information regarding the "system" function, refer to this documentation: https://www.mathworks.com/help/ros/ref/system.html

[Sönke]

Hello Divyam,

thanks for spending some time with my problem.

If I am not mistaken, there is a difference between the main python executable setting and the setting for the ROS Toolbox, where the python executable has to be set again. For the latter I cannot find a way to set the options through CLI.

Preference -> ROS Toolbox -> "Open ROS Toolbox Preferences" -> ROS System Requirements (python environment)

[Divyam]

Hi @Sönke, you can set the python executable for ROS2 using the "pyenv" function as I mentioned before. Feel free to comment on this answer if you still face issues with using the "pyenv" function to set the python environment for ROS2.

Note: Since you are using ROS2 ensure that the python version is >= 3.7