simulink ros2 generated node rate

Question

Iftach Naftaly 2022-4-28

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1707210-simulink-ros2-generated-node-rate

回答： Jagadeesh Konakalla 2022-11-4

Hi all,

I'm using ROS toolbox with matlab 2022a, ros2 foxy and cyclonedds rmw all on ubuntu 20.04.

I created a simple publisher node model within Simulink which publish some message each iteration.

When I generate ros2 node from the Simulink model I set my model's solver type as fix-step with some fixed-time step, which I assume to be the working frequency of the generated ros2 node.

After the node is generated I run it but the publish rate is way faster than I set on the fixed-time step configuration of the model.

Am I missing some settings of the code-generation that controls the working rate of the node?

Thanks,

Iftach.

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Iftach Naftaly 2022-5-9

Hi Jagadeesh,

Thanks for your help.

I created a simple model which publish only one topic /my_topic on std_msgs/Bool.

The base rate of the model is 100 [Hz] (meaning the solver is set to fixed step with fixed step size of 0.01). After generating the code for the ros2 node, I ran the node and measured the rate with ros2 topic hz /my_topic and got about 250[Hz] avarage rate.

I'm working with CycloneDDS RMW implementation.

Thanks again,

Iftach.

Iftach Naftaly 2022-6-19