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
Initializing ROS master on http://bat6346glnxa64:37129/. Initializing global node /matlab_global_node_40253 with NodeURI http://bat6346glnxa64:34379/
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_40253 with NodeURI http://bat6346glnxa64:34379/ Shutting down ROS master on http://bat6346glnxa64:37129/.