Mastering ROS for Robotics Programming - Second Edition

Subscribing to a ROS topic in Simulink

To subscribe to a ROS topic, we only need the Subscribe block. Even in this case, we must configure the type of the message to read and the topic name. Let's select the /position topic in order to read the data sent to the ROS network by the publisher Simulink model. The Subscriber block has two outputs: IsNew, a Boolean signal that defines if a new message is received, and Msg, which contains the received message:

Figure 20: Simulink Subscriber block

In the publisher model, if we have used a bus creator to aggregate multiple data in one message, then we need to split the data of the message. For this, ...