Gazebo/ROS: Publishing to Set Model State, problem with strings and bus assignment

Hello, I am having trouble publishing to the set model state topic using ROS/Gazebo, specifically regarding the model name field. I need to give a string as an input (the name of the model I am trying to modify) into the bus assignment, but am having trouble accomplishing this. So far, I have tried to use a constant block to set the string name but it did not work. I also tried using a blank message block, but that did not work either.

Answer 1

[Sebastian Castro]

Working with strings in ROS/Simulink takes a little getting used to. You need to supply a vector of char (or uint8), as well as provide extra information about the length of the string you are sending so the receiving end knows how far along the max length (128 by default) to read.

I'd recommend checking out this example for ideas: https://www.mathworks.com/help/robotics/examples/work-with-ros-messages-in-simulink.html

- Sebastian