Simulink MultiArray message generation to ROS
How can I create a publisher that in Simulink (Matlab R2015A) that sends an array of floats as a ROS message (in ROS Indigo under Ubuntu 14.04)? I should use the BlankMSG block with msg type: std_msgs/Float32MultiArray, a Publish block with the same msg type and my own topic name.
I don't know how to add the vector to the data field on the msg bus. I tired, with a Bus Assignment block where the data input is a constant vector, but I get an error:
The Bus input port of the Bus Assignment block 'SubscriberMotorStates/Bus Assignment' does not support an array of buses as a sub-element.
UPDATE
I tried in Matlab to send an array and did work by following the instructions.
chatpub = rospublisher('/chatter','std_msgs/Float64MultiArray');
msg = rosmessage(chatpub);
msg.Data = [1 2 3];
send(chatpub,msg);
So, I can also use in simulink this by implementing a function in an *.m file and use the Interpreted MATLAB function block.
I'm still curious how can I use the intended blocks for array message sending, because it might be better optimized. (I'm going to use in a real application)
matlab message simulink ros
asked Apr 27 '16 at 8:45
ElodElod
307521
add a comment |
How can I create a publisher that in Simulink (Matlab R2015A) that sends an array of floats as a ROS message (in ROS Indigo under Ubuntu 14.04)? I should use the BlankMSG block with msg type: std_msgs/Float32MultiArray, a Publish block with the same msg type and my own topic name.
I don't know how to add the vector to the data field on the msg bus. I tired, with a Bus Assignment block where the data input is a constant vector, but I get an error:
The Bus input port of the Bus Assignment block 'SubscriberMotorStates/Bus Assignment' does not support an array of buses as a sub-element.
UPDATE
I tried in Matlab to send an array and did work by following the instructions.
chatpub = rospublisher('/chatter','std_msgs/Float64MultiArray');
msg = rosmessage(chatpub);
msg.Data = [1 2 3];
send(chatpub,msg);
So, I can also use in simulink this by implementing a function in an *.m file and use the Interpreted MATLAB function block.
I'm still curious how can I use the intended blocks for array message sending, because it might be better optimized. (I'm going to use in a real application)
matlab message simulink ros
asked Apr 27 '16 at 8:45
ElodElod
307521
have you tried to do it by hand in a matlab function instead of using the bus assignment block?
– alextoind
Apr 28 '16 at 17:32
I tried in MatLab and it works just following the instructions online. Edit in original post.
– Elod
Apr 29 '16 at 8:43
The problem is theBus Assignmentblock. Just replace it with aMATLAB Functionone which manually handles the wiring. It should be fine.
– alextoind
May 2 '16 at 7:49
add a comment |
How can I create a publisher that in Simulink (Matlab R2015A) that sends an array of floats as a ROS message (in ROS Indigo under Ubuntu 14.04)? I should use the BlankMSG block with msg type: std_msgs/Float32MultiArray, a Publish block with the same msg type and my own topic name.
I don't know how to add the vector to the data field on the msg bus. I tired, with a Bus Assignment block where the data input is a constant vector, but I get an error:
The Bus input port of the Bus Assignment block 'SubscriberMotorStates/Bus Assignment' does not support an array of buses as a sub-element.
UPDATE
I tried in Matlab to send an array and did work by following the instructions.
chatpub = rospublisher('/chatter','std_msgs/Float64MultiArray');
msg = rosmessage(chatpub);
msg.Data = [1 2 3];
send(chatpub,msg);
So, I can also use in simulink this by implementing a function in an *.m file and use the Interpreted MATLAB function block.
I'm still curious how can I use the intended blocks for array message sending, because it might be better optimized. (I'm going to use in a real application)
matlab message simulink ros
asked Apr 27 '16 at 8:45
ElodElod
307521
How can I create a publisher that in Simulink (Matlab R2015A) that sends an array of floats as a ROS message (in ROS Indigo under Ubuntu 14.04)? I should use the BlankMSG block with msg type: std_msgs/Float32MultiArray, a Publish block with the same msg type and my own topic name.
I don't know how to add the vector to the data field on the msg bus. I tired, with a Bus Assignment block where the data input is a constant vector, but I get an error:
The Bus input port of the Bus Assignment block 'SubscriberMotorStates/Bus Assignment' does not support an array of buses as a sub-element.
UPDATE
I tried in Matlab to send an array and did work by following the instructions.
chatpub = rospublisher('/chatter','std_msgs/Float64MultiArray');
msg = rosmessage(chatpub);
msg.Data = [1 2 3];
send(chatpub,msg);
So, I can also use in simulink this by implementing a function in an *.m file and use the Interpreted MATLAB function block.
I'm still curious how can I use the intended blocks for array message sending, because it might be better optimized. (I'm going to use in a real application)
matlab message simulink ros
matlab message simulink ros
asked Apr 27 '16 at 8:45
ElodElod
307521
asked Apr 27 '16 at 8:45
ElodElod
307521
edited Apr 29 '16 at 8:51
Elod
asked Apr 27 '16 at 8:45
ElodElod
307521
asked Apr 27 '16 at 8:45
ElodElod
307521
asked Apr 27 '16 at 8:45
ElodElod
307521
307521
have you tried to do it by hand in a matlab function instead of using the bus assignment block?
– alextoind
Apr 28 '16 at 17:32
I tried in MatLab and it works just following the instructions online. Edit in original post.
– Elod
Apr 29 '16 at 8:43
The problem is theBus Assignmentblock. Just replace it with aMATLAB Functionone which manually handles the wiring. It should be fine.
– alextoind
May 2 '16 at 7:49
add a comment |
have you tried to do it by hand in a matlab function instead of using the bus assignment block?
– alextoind
Apr 28 '16 at 17:32
I tried in MatLab and it works just following the instructions online. Edit in original post.
– Elod
Apr 29 '16 at 8:43
The problem is theBus Assignmentblock. Just replace it with aMATLAB Functionone which manually handles the wiring. It should be fine.
– alextoind
May 2 '16 at 7:49
have you tried to do it by hand in a matlab function instead of using the bus assignment block?
– alextoind
Apr 28 '16 at 17:32
have you tried to do it by hand in a matlab function instead of using the bus assignment block?
– alextoind
Apr 28 '16 at 17:32
I tried in MatLab and it works just following the instructions online. Edit in original post.
– Elod
Apr 29 '16 at 8:43
I tried in MatLab and it works just following the instructions online. Edit in original post.
– Elod
Apr 29 '16 at 8:43
The problem is the
Bus Assignment block. Just replace it with a MATLAB Function one which manually handles the wiring. It should be fine.– alextoind
May 2 '16 at 7:49
The problem is the
Bus Assignment block. Just replace it with a MATLAB Function one which manually handles the wiring. It should be fine.– alextoind
May 2 '16 at 7:49
add a comment |
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have you tried to do it by hand in a matlab function instead of using the bus assignment block?
– alextoind
Apr 28 '16 at 17:32
I tried in MatLab and it works just following the instructions online. Edit in original post.
– Elod
Apr 29 '16 at 8:43
The problem is the
Bus Assignmentblock. Just replace it with aMATLAB Functionone which manually handles the wiring. It should be fine.– alextoind
May 2 '16 at 7:49