Send messages to ROS network
ROS Toolbox / ROS
The Publish block takes in as its input a Simulink® nonvirtual bus that corresponds to the specified ROS message type and publishes it to the ROS network. It uses the node of the Simulink model to create a ROS publisher for a specific topic. This node is created when the model runs and is deleted when the model terminates. If the model does not have a node, the block creates one.
On each sample hit, the block converts the Msg input from a Simulink bus signal to a ROS message and publishes it. The block does not distinguish whether the input is a new message but merely publishes it on every sample hit. For simulation, this input is a MATLAB® ROS message. In code generation, it is a C++ ROS message.
You can also set the addresses for the ROS master and node host by clicking the Configure network addresses link in the block.