Call ROS Service in Simulink

Use the Call Service block to call a service on the ROS service server.

Connect to a ROS network.

rosinit
Initializing ROS master on http://bat1012603glnxa64:45121/.
Initializing global node /matlab_global_node_23718 with NodeURI http://bat1012603glnxa64:36669/

Set up a roscpp_tutorials/TwoInts service server message type and specify a example helper callback function. The call back function provided sums the A and B elements of a roscpp_tutorials/TwoIntsRequest message. The service server must be set up before you can call a service client.

sumserver = rossvcserver('/sum','roscpp_tutorials/TwoInts',@exampleHelperROSSumCallback);

Open a Simulink® model with the Call Service block. Use the Blank Message block to output a request message with the roscpp_tutorials/TwoIntsRequest message type. Populate the bus with two values to sum togther.

open_system('ros_twoint_service_simulink_example.slx')

Run the model. The service call should return 0 in the Resp output as part of the response message. An error code of 0 indicates the service call was successful. You can ignore warnings about converting data types.

sim('ros_twoint_service_simulink_example.slx')
Warning: The property "A" in ROS message type "roscpp_tutorials/TwoIntsRequest"
has an unsupported datatype (int64). This property will be converted to
datatype "double" in the Simulink bus. 
Warning: The property "B" in ROS message type "roscpp_tutorials/TwoIntsRequest"
has an unsupported datatype (int64). This property will be converted to
datatype "double" in the Simulink bus. 
Warning: The property "Sum" in ROS message type
"roscpp_tutorials/TwoIntsResponse" has an unsupported datatype (int64). This
property will be converted to datatype "double" in the Simulink bus. 

Shut down the ROS network to disconnect.

rosshutdown
Shutting down global node /matlab_global_node_23718 with NodeURI http://bat1012603glnxa64:36669/
Shutting down ROS master on http://bat1012603glnxa64:45121/.