How do I define a service server with custom service type in MATLAB?

I am trying to write a service along with a callback function. The service would have a response and request of type sensor_msgs/Image. However, there are no such service types in rostype.getServiceList. How can I create a custom service type that will accept the correct request and response msg types? Is this the correct approach for creating a service server in MATLAB?

Thanks!

[Jagadeesh Konakalla]

Hi Abhinav,

My understanding is that you are querying for ROS 1.

If you are using the MATLAB version R2020b or later, Please refer to the following links which will be useful to know how to generate custom messages and custom services in the MATLAB.

https://www.mathworks.com/help/ros/ug/ros-custom-message-support.html

https://www.mathworks.com/help/ros/ref/rosgenmsg.html

https://www.mathworks.com/help/ros/ug/create-custom-messages-from-ros-package.html

If you are using the MATLAB R2020a or before, you need to install the following support package.

https://www.mathworks.com/matlabcentral/fileexchange/49810-ros-toolbox-interface-for-ros-custom-messages

Let me know if you need additional information.

Thanks,

Jagadeesh K.

[Abhinav Gandhi]

Thanks for your reply Jagadeesh. I have the ROS Toolbox interface for ROS custom messages installed. I am using MATLAB 2020a with ROS1, I'd added that information to my question but I don't see it anymore!

Where can I find documentation for this toolbox? The links I saw point to this page: https://www.mathworks.com/help/ros/ug/ros-custom-message-support.html which talks about rosgenmsg but has no documentation for the interface toolbox.

Thanks!

Answer 1

[Jagadeesh Konakalla]

Hi Abhinav,

Here are the links for R2020a MATLAB release related to custom message creation in MATLAB. As you have already installed the support package, you should be able to use the rosgenmsg function now. Please follow the following links.

https://www.mathworks.com/help/releases/R2020a/ros/ug/create-custom-messages-from-ros-package.html

https://www.mathworks.com/help/releases/R2020a/ros/custom-message-support.html

https://www.mathworks.com/help/releases/R2020a/ros/ug/ros-custom-message-support.html

Thanks,

Jagadeesh K