simuling to ros array publish

Question

Emre Gür 2020-7-21

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/568320-simuling-to-ros-array-publish

评论： Emre Gür 2020-7-24

采纳的回答： Cam Salzberger

Hi I have a question. I need to publish this array from simuling to my ros network: "data: [50, -50, 50, -50]"

From terminal I can give this command and it works fine:

rostopic pub -1 /****/joint_motor_controller/command std_msgs/Float64MultiArray "data: [50, -50, 50, -50]"

But I want to achieve this from simulink as well however I couldnt achieve it. I set my publisher like the picture as well and my connection to my ros network is established successfully. I tried summing variables from MUX and BUS but it did not work. Thus how can I send a data array like the one above to my ros network?

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Answer 1

Cam Salzberger 2020-7-21

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https://ww2.mathworks.cn/matlabcentral/answers/568320-simuling-to-ros-array-publish#answer_468969

Hello Emre,

In order to send a ROS message through the Publish block, you first need to create a Blank Message to have the appropriate bus structure. Then you can assign data to the fields of the message using a Bus Assignment block, and pass the output of that into the Publish block. See here for a basic example.

Now using std_msgs/Float64MultiArray gets a little trickier because it has a variable-sized array as one of its message fields. If you have any trouble using, take a look at this page dedicated to the topic.

-Cam