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Time Stamp a ROS Message Using Current Time in Simulink
This example shows how to time stamp a ROS message with the current system time of your computer. Use the Current Time block and assign the output to the std_msgs/Header
message in the Stamp field. Publish the message on a desired topic.
Connect to a ROS network.
rosinit
Launching ROS Core... Done in 0.47122 seconds. Initializing ROS master on http://172.20.224.220:49758. Initializing global node /matlab_global_node_99242 with NodeURI http://dcc194700glnxa64:44057/ and MasterURI http://localhost:49758.
Open the Simulink model provided with this example. The model uses a Bus Assignment block to add the Current Time output to the Stamp field of the ROS message.
open_system('current_time_stamp_message.slx')
Run the model. The Publish block should publish the Header message with the current system time.
sim('current_time_stamp_message.slx')
Shut down the ROS network.
rosshutdown
Shutting down global node /matlab_global_node_99242 with NodeURI http://dcc194700glnxa64:44057/ and MasterURI http://localhost:49758. Shutting down ROS master on http://172.20.224.220:49758.