simuling to ros float64multiarray publish layout problem

Hi,

I am trying to publish 1x4 float64multiarray type message (exact message= [50, -50, 50, -50]) from simulink to ros topic. Although I followed regular procedure to do so; and did not feed in anything for layout at first, I am encountering this error from ros/gazebo simulation:

[ERROR] [1598824459.302691869, 6043.341000000]: Dimension of command (0) does not match number of joints (4)! Not executing!

I managed the array sizes for ROS message as 4 (which it is for [50, -50, 50, -50]). Thus, I think I have problem with layout. How can I resolve this problem? Which layout data shall I feed in for bus assignment?

Further details can be found from picture.

Best regards.

EG

(from terminal simulation runs if I write " rostopic pub -l /***/joint_motor_controller/command std_msgs/Float64MultiArray "data: [50, -50, 50]" ")

[Ali Aflakian]

Hi,

I have exactly the same proplem. Could I possible ask, did you managed to solve that and how?

Regards,

Ali

Answer 1

[Tohru Kikawada]

In your case, you'll need to use MATLAB Function block for the nested message type, so it's a bit complicated. I've attached an example to assign an array to std_msgs/Float64MultiArray. Pleasse refer Work with Nested Arrays of Messages section in the following documentation for details.

https://www.mathworks.com/help/ros/ug/work-with-ros-messages-in-simulink.html