How can I use custom ROS messages with Robotics System Toolbox?

Question

Gautam Vallabha 2015-3-11

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/182701-how-can-i-use-custom-ros-messages-with-robotics-system-toolbox

回答： Massimo Satler 2021-5-19

采纳的回答： MathWorks Robotics and Autonomous Systems Team

I want to create a ROS message of type atlas_msgs/AtlasCommand, but rosmessage doesn't work with it. I get the following error:

>> rosmessage('atlas_msgs/AtlasCommand')
Cannot find a MATLAB message class for type atlas_msgs/AtlasCommand.

How do I use custom ROS messages that aren't included with Robotics System Toolbox?

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Answer 1

MathWorks Robotics and Autonomous Systems Team 2015-3-12

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https://ww2.mathworks.cn/matlabcentral/answers/182701-how-can-i-use-custom-ros-messages-with-robotics-system-toolbox#answer_171109

Hi Gautam,

You can add the support for custom ROS messages by installing the Robotics System Toolbox Interface for ROS Custom Messages . You can define your own custom ROS message and service types, and use them in MATLAB and Simulink to communicate with other nodes in the ROS network.

There are two ways to install this interface:

In MATLAB, call roboticsSupportPackages, select the "ROS Custom Messages" entry, and follow the installation instructions.
Go to the FileExchange entry for the custom message interface and follow the installation instructions listed there.

After the installation finishes, you can take a look at the documentation and see examples on how to use custom messages in MATLAB and Simulink.

You should be able to communicate with the ATLAS robot in no time!