send

Publish ROS message to topic

Syntax

send(pub,msg)

Description

send(pub,msg) publishes a message to the topic specified by the publisher, pub. This message can be received by all subscribers in the ROS network that are subscribed to the topic specified by pub.

Examples

Create, Send, and Receive ROS Messages

Set up a publisher and subscriber to send and receive a message on a ROS network.

Connect to a ROS network.

rosinit

Launching ROS Core...
.................................................Done in 1.0486 seconds.
Initializing ROS master on http://192.168.0.10:51887.
Initializing global node /matlab_global_node_79464 with NodeURI http://bat1073812glnxa64:33431/

Create a publisher with a specific topic and message type. You can also return a default message to send using this publisher.

[pub,msg] = rospublisher('position','geometry_msgs/Point');

Modify the message before sending it over the network.

msg.X = 1;
msg.Y = 2;
send(pub,msg);

Create a subscriber and wait for the latest message. Verify the message is the one you sent.

sub = rossubscriber('position')

sub = 
  Subscriber with properties:

        TopicName: '/position'
    LatestMessage: [0x1 Point]
      MessageType: 'geometry_msgs/Point'
       BufferSize: 1
    NewMessageFcn: []

pause(1);
sub.LatestMessage

ans = 
  ROS Point message with properties:

    MessageType: 'geometry_msgs/Point'
              X: 1
              Y: 2
              Z: 0

  Use showdetails to show the contents of the message

Shut down the ROS network.

rosshutdown

Shutting down global node /matlab_global_node_79464 with NodeURI http://bat1073812glnxa64:33431/
Shutting down ROS master on http://192.168.0.10:51887.
................

Input Arguments

pub — ROS publisher

Publisher object handle

ROS publisher, specified as a Publisher object handle. You can create the object using rospublisher.

msg — ROS message

Message object handle

ROS message, specified as a Message object handle. You can create object using rosmessage.