Ros Matlab I/O joint_state publisher

Hi all, I am playing around with the Matlab ROS I/O and came across a problem when trying to publish joint state messages, i.e. of type sensor_msgs/JointState.

I can create the msg ok and add position, velocity, etc, values but I cannot fill in the joint names. For example:

...

>> msg = rosmatlab.message('sensor_msgs/JointState',node);

>> msg.setPosition(1,2,3,4);

>> msg.setVelocity(1,2,3,4);

>> msg.setName(['j1','j2','j3','j4'])

No method 'setName' with matching signature found for class 'org.ros.internal.message.$Proxy12'.

or

>> msg.setName('[j1,j2,j3,j4]')

No method 'setName' with matching signature found for class 'org.ros.internal.message.$Proxy12'.

Does anyone know how to set the joint names?

Thanks, Ioannis

Answer 1

[Viktor Dluhos]

Hi Ioannis,

I had the same problem and I found the solution. Its a bit crazy but it works. You have to create cell array of strings. So what have I done. First I created a string array. Then to each field I set names and then I created a cell from this string array. joints = java_array('java.lang.String',3); joints(1) = java.lang.String('Joint1'); joints(2) = java.lang.String('Joint2'); joints(3) = java.lang.String('Joint_GripperBase') joints_cell = cell(joints) msg.Name = joints_cell

I know you had older matlab and now its totally different, but If someone will have the same problem, then here is the answer.

Viktor D.

Answer 2

[Leonardo Fabio M. Benítez]

for me it work, but i have a big problem with parameter Header. :(

mensaje_articulaciones = rosmessage(publicador_robot);

%mensaje_articulaciones.Header = {'auto'};

mensaje_articulaciones.Name = {'joint_1', 'joint_2', 'joint_3', 'joint_4'};

mensaje_articulaciones.Position = [0,0,0,0];

mensaje_articulaciones.Velocity = [];

mensaje_articulaciones.Effort = [];