Windows/Matlab 和Ubuntu/Ros 通讯 自定义消息格式的设置

1、下载matlab的附加包

 

 适用于2017b之后的版本

2、将ros里边写的消息包整个拷贝出来

 

3、在matlab的安装目录里边建立一的自定义消息信息文件夹（my_msg)

我的路径：

 上图中，vehicle_msg 是ros拷贝的自定义消息格式的pkg，直接整个放到my_msg下，matlab_gen 是调用工具后生成的，现在不用管。

matlab  
  ____| my_msg
          ____| vehicle_msg 
                     ______| msg
                     ______| include
                     ______| src
                     ______| packge.xml

4、调用 ROS toolbox 里的函数

matlab命令行输入：

rosgenmsg('C:\my_software\matlab2020a\my_msg')

如果成功会显示：

Checking subfolder "vehicle_msg" for custom messages.
 
Building custom message files for the following packages:
   vehicle_msg
 
 
Generating MATLAB classes for message packages in C:\my_software\matlab2020a\my_msg\matlab_gen\jar.
 
Loading file vehicle_msg-0.0.0.jar.
Generating MATLAB code for vehicle_msg/control message type.
Generating MATLAB code for vehicle_msg/decision message type.
Generating MATLAB code for vehicle_msg/global_path message type.
Generating MATLAB code for vehicle_msg/lane message type.
Generating MATLAB code for vehicle_msg/local_map message type.
Generating MATLAB code for vehicle_msg/local_path message type.
Generating MATLAB code for vehicle_msg/localpath_pose message type.
Generating MATLAB code for vehicle_msg/localpath_stamped message type.
Generating MATLAB code for vehicle_msg/obstacle message type.
Generating MATLAB code for vehicle_msg/obstacle_trajectory message type.
 
To use the custom messages, follow these steps:
 
1. Edit javaclasspath.txt, add the following file locations as new lines, and save the file:
 
C:\my_software\matlab2020a\my_msg\matlab_gen\jar\vehicle_msg-0.0.0.jar
 
2. Add the custom message folder to the MATLAB path by executing:
 
addpath('C:\my_software\matlab2020a\my_msg\matlab_gen\msggen')
savepath
 
3. Restart MATLAB and verify that you can use the custom messages. 
   Type "rosmsg list" and ensure that the output contains the generated
   custom message types.

需要按照指示完成三步：

（1）点击打开” javaclasspath.txt “，

将“C:\my_software\matlab2020a\my_msg\matlab_gen\jar\vehicle_msg-0.0.0.jar”放入txt文件保存

 （2）终端输入命令

>> addpath('C:\my_software\matlab2020a\my_msg\matlab_gen\msggen')
>> savepath

  (3)重启完活