ROS Workflow with Action Clients in Stateflow

Demonstration of Setting up a ROS Action Clients to control Robot Workflow using Stateflow

This Small Model shows how to setup Simulink Publishers and Subscribers inside Stateflow in the correct format in order to be able to properly communicate with a ROS Action Server.
In order to use the model, the following steps need to be performed:
1. Move the motion_controller directory into your ROS Catkin Workspace and compile with catkin build or catkin_make.
2. Add the motion_controller messages (motion_controller.action) to the matlab custom messages, using:
https://de.mathworks.com/help/ros/ug/ros-custom-message-support.html
3. Start up the motion_controller robot simulator in a linux terminal or Windows Sub-system for Linux Terminal with:
> rosrun motion_controller motion_controller_test_simulator
4. Start up the motion_controller action server with:
> rosrun motion_controller motion_controller
5. Start the Matlab Simulink Model, and see the robot move through the provided Goals in the workflow.

Note: Presently the waitForServer Command is not working, and is commented out. Anyone who has suggestions on an efficient way to code this is much appreciated.

For an example of using a ROS Action Client alone as a block see:
https://de.mathworks.com/matlabcentral/fileexchange/73602-ros-action-client-block