How can I manage more complex ROS messages in Simulink? (e.g. JointTrajectory)

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David Morilla Cabello 2019-4-7

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评论： David Morilla Cabello 2019-4-9

I'm computing the joint values using simulink. Now I want to send the values to ROS using the Publish block in simulink. However, i can't fin a way of filling the fields for the message as i want. Not even with a Matlab function. Do you have any ideas how to fill the struct message?

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Answer 1

Cam Salzberger 2019-4-8

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Hello David,

You can create an empty message structure of your desired type using the Blank Message block, and fill in the values using a Bus Assignment block. There are a couple of examples of this in the "Getting Started" models.

-Cam

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David Morilla Cabello 2019-4-9

Thanks, I went trough that already. My main problem was the data type management, but I found the example I needed. I will leave it here in case someone has the same problem.

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