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.

Connect to a ROS network.

rosinit

Launching ROS Core...
Done in 0.47733 seconds.
Initializing ROS master on http://172.20.149.99:50885.
Initializing global node /matlab_global_node_45125 with NodeURI http://dcc786972glnxa64:46473/ and MasterURI http://localhost:50885.

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

Shutting down global node /matlab_global_node_45125 with NodeURI http://dcc786972glnxa64:46473/ and MasterURI http://localhost:50885.
Shutting down ROS master on http://172.20.149.99:50885.