%% 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.

% Copyright 2019 The MathWorks, Inc.

%% 
% Connect to a ROS network.
rosinit

%%
% 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