Errors in rosservice info for external services.

Hello,

I am running into errors whilst attempting to run

n = ros.node("/test")
client = ros.ServiceClient(n,'/iiwa_1/controller_manager/list_controller_types','DataFormat','struct');

with external services. In this case i am attempting to get the type for a gazebo service.

I get the error:

Error using rethrow
Input must be a structure.

Error in ros.internal.NetworkIntrospection.getServiceType (line 519)
                rethrow ex

Error in ros.ServiceClient (line 200)
                serviceType = ros.internal.NetworkIntrospection.getServiceType(serviceName, masterURI);
                

I think there are two issues here. One is that the internal NetworkInspection class should be

rethrow(ex);

instead of

rethrow ex

However there is still the issue in why this is triggering an exception. The rosservice definelty exists and calling the "rosservice type /iiwa_1/controller_manager/list_controller_types" command works as expected.

The exception ex is:

ex = 

  MException with properties:

    identifier: 'ros:internal:transport:TransportError'
       message: 'Connection to server timed out. Server Unreachable'
         cause: {}
         stack: [2×1 struct]
    Correction: []

Note this happens for all external ros services. Ros services defined internally to matlab such as in https://uk.mathworks.com/help/ros/ug/call-and-provide-ros-services.html do not have this issue.

Answer 1

[Joshua Davy]

To the person that stumbles on this. It was caused by me not setting up my enviroment variables between windows and WSL 2 (where i was running gazebo).

I followed this guide and fixed the issue:

https://uk.mathworks.com/matlabcentral/answers/644105-communicate-with-ros-in-wsl2