Robotics System Toolbox - Pure Pursuit Simulink block modifications

Is there a way to modify the Pure Pursuit Simulink block (Robotics System Toolbox) so that the desired velocity is an input that can vary during execution, instead of a mask parameter? We would like to generate a standalone ROS node from this modified block. We are using R2016B

Answer 1

[Remo Pillat]

Thanks for your input, Alexander. We are definitely considering this extension of the Simulink block in a future release. As a temporary workaround, you can call the controllerPurePursuit object in a MATLAB Function block. The DesiredLinearVelocity property on the object is tunable, so you can change it at runtime.