How can I manage more complex ROS messages in Simulink? (e.g. JointTrajectory)

I'm computing the joint values using simulink. Now I want to send the values to ROS using the Publish block in simulink. However, i can't fin a way of filling the fields for the message as i want. Not even with a Matlab function. Do you have any ideas how to fill the struct message?

Answer 1

[Cam Salzberger]

Hello David,

You can create an empty message structure of your desired type using the Blank Message block, and fill in the values using a Bus Assignment block. There are a couple of examples of this in the "Getting Started" models.

-Cam

[David Morilla Cabello]

Thanks, I went trough that already. My main problem was the data type management, but I found the example I needed. I will leave it here in case someone has the same problem.