Blank Message
Create blank ROS 2 message using specified message type
Libraries:
ROS Toolbox /
ROS 2
Description
The Blank Message block creates a Simulink® nonvirtual bus corresponding to the selected ROS message type. The block creates ROS message buses that work with Publish, Subscribe, Call Service and Send Action Goal blocks.
Examples
Call ROS 2 Service in Simulink
Call a service on the ROS 2 network in Simulink using the Call Service block and receive a response.
Ports
Output
Msg — Blank ROS 2 message
non-virtual bus
Blank ROS 2 message, returned as a non-virtual bus. To specify the type of ROS
message, use the Type parameter. All elements of the bus are
initialized to 0. The lengths of the variable-length arrays are also initialized to
0
.
Data Types: bus
Parameters
Class — Class of ROS 2 message
Message
(default) | Service Request
| Service Response
| Action Goal
| Action Feedback
| Action Result
Class of ROS 2 message, specified as Message
, Service
Request
, Service Response
, Action
Goal
, Action Feedback
and Action Result
.
For basic publishing and subscribing, use the Message
class. To
create a service request message for Call Service
input, use the Service Request
class. To create an action goal
message for Goal input of Send Action Goal,
use the Action Goal
class. You can use the Action
Feedback
or Action Result
classes to create an action
feedback message or action result message of specific type respectively.
Message type — ROS 2 message type
'geometry_msgs/Point'
(default) | character vector | dialog box selection
ROS 2 message type, specified as a character vector or a dialog box selection. Use Select to select from a list of supported ROS messages. The list of messages given depends on the Class of message you select.
Sample time — Interval between outputs
Inf
(default) | positive numeric scalar
Interval between outputs, specified as a numeric scalar. The default value indicates that the block output never changes. Using this value speeds simulation by eliminating the need to recompute the block output. Otherwise, the block outputs a new blank message at each interval of Sample time.
For more information, see Specify Sample Time (Simulink).
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Version History
Introduced in R2019b
See Also
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