Call ROS Service in Simulink
Use the Call Service block to call a service on the ROS service server.
Connect to a ROS network.
rosinit
Launching ROS Core... ..................Done in 0.97203 seconds. Initializing ROS master on http://192.168.0.10:59186. Initializing global node /matlab_global_node_18396 with NodeURI http://bat6315glnxa64:35545/
Set up a roscpp_tutorials/TwoInts service server message type and specify a example helper callback function. The call back function provided sums the A and B elements of a roscpp_tutorials/TwoIntsRequest message. The service server must be set up before you can call a service client.
sumserver = rossvcserver('/sum','roscpp_tutorials/TwoInts',@exampleHelperROSSumCallback);
Open a Simulink® model with the Call Service block. Use the Blank Message block to output a request message with the roscpp_tutorials/TwoIntsRequest message type. Populate the bus with two values to sum together.
open_system('ros_twoint_service_simulink_example.slx')
Run the model. The service call should return 0 in the Resp output as part of the response message. An error code of 0 indicates the service call was successful. You can ignore warnings about converting data types.
sim('ros_twoint_service_simulink_example.slx')Warning: The property "a" in ROS message type "roscpp_tutorials/TwoIntsRequest" has an unsupported datatype (int64). This property will be converted to datatype "double" in the Simulink bus.
Warning: The property "b" in ROS message type "roscpp_tutorials/TwoIntsRequest" has an unsupported datatype (int64). This property will be converted to datatype "double" in the Simulink bus.
Warning: The property "sum" in ROS message type "roscpp_tutorials/TwoIntsResponse" has an unsupported datatype (int64). This property will be converted to datatype "double" in the Simulink bus.
Shut down the ROS network to disconnect.
rosshutdown
Shutting down global node /matlab_global_node_18396 with NodeURI http://bat6315glnxa64:35545/ Shutting down ROS master on http://192.168.0.10:59186. .....