Index exceeds array dimensions in Write Point Cloud block ROS2

I'm looking to generate a point cloud message from a UAV scenario LiDAR and send it to ROS2, but I keep encountering this persistent error.

Index exceeds array dimensions. Index value 133 exceeds valid range [1-128]. Code generation does not support growing arrays via indexing except by using end+1.

Error in WritePointCloudFcnBlock.m (line 100)

Data(Inds(1 : NumBytesArray(idx), :) + byteOffset) = typecast(XYZunordered(:, 1), 'uint8');

This is my model. My point cloud is unorganized and has dimensions of (18,000, 3).

Interestingly, when I utilize a constant block and provide it with data like [[0, 0, 0]; [1, 1, 1]], it functions without any issues. Could you guide me how to fix this.

Answer 1

[Jarunyawat Buasri]

So, I gave it a shot – trying to read a point cloud from Gazebo. That's when I stumbled upon something interesting in the ROS toolbox: the Variable Size Message. By tweaking the maximum length to over 128, I managed to get it working like a charm.