Hello Rahul,
In order for Simulink to subscribe to the topic and receive custom messages, you need to provide message definition and build the ROS 2 package same as what you need to do with a rclcpp ROS 2 node on a different computer.
To begin with, you can refer to the function ros2genmsg, the example in this page shows you how to use ros2genmsg to build a ROS 2 package containing definition of messages.
In your use case, you can:
- copy message (service, action if you have) files to the computer that runs MATLAB/Simulink
- navigate to that folder and use ros2genmsg to generate custom messages from ROS 2 definitions
- use the following command to check whether they are available:
>> ros2 msg list
4. Create a ROS 2 Subscribe block and select the topic, message type you would like to subscribe
Hope this helps,
Thanks,
Josh
