ROS2 Simulink Toolbox not publishing

22 次查看（过去 30 天）

Natasha Nakashima 2020-10-7

4
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/607606-ros2-simulink-toolbox-not-publishing

编辑： Shipeng Liu 2022-2-25

Hi,

I am creating a simple example of publish/subscribe using the ROS2 Simulink toolbox to test connecting to a ROS2 Network. I have two computers on the same subnet mask: an Ubuntu 20.04 running ROS2 Foxy and a Windows 10 running the Matlab 2020b ROS Toolbox.

I can publish from my Ubuntu and view the message in Simulink, but when I use Simulink to publish something, I receive nothing on my Ubuntu computer.

I receive no error during the execution. And also, I have configured the ROS_DOMAIN_ID on both machines.

Would anyone have any idea for a possible workaround for this problem?

Thanks!

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

采纳的回答

Cam Salzberger 2020-10-25

1
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/607606-ros2-simulink-toolbox-not-publishing#answer_524098

编辑：Cam Salzberger 2021-5-25

Hello Natasha,

Changes to the way communication through ROS 2 is done in Foxy that results in it being incompatible with earlier releases of ROS by default. This occurs in standard ROS 2 installations as well (outside of MATLAB). R2020b is using ROS 2 Dashing and the default DDS implementation of Fast-RTPS, so it is also affected by this issue. Here are some workarounds:

Use Dashing

The easiest solution would be to install Dashing on Ubuntu, if that is possible for your use of ROS 2.

Use Cyclone DDS with Foxy

Another workaround would be to switch the Foxy installation to use the Cyclone DDS implementation that comes packages with the Foxy binary installation. See these instructions on how to install Cyclone DDS, if required, and these instructions on how to specify the RMW implementation to use.

Change Profiles XML for RTI Connext DDS with Foxy

In the Foxy release note, there is a similar incompatibility noted, specific to the RTI Connext back-end. There is a workaround suggested in that note.

-Cam

13 个评论
显示 11更早的评论隐藏 11更早的评论

Cam Salzberger 2022-1-21

编辑：Cam Salzberger 2022-1-21

ROS 2 Foxy is supported by R2022a, along with ROS Noetic. If your license enables you to do so, you can download the prerelease and try it out now.

Please note that both ROS and ROS 2 in R2022a will require Python 3.9 for custom message generation, codegen deployment, and ROS Master creation (in ROS 1). See the release notes for details on other changes.

-Cam