MATLAB: How to interface CAN_Pack _Unpack with a ROS publisher to generate a standalone ROS node

Question

I want to create a standalone ROS node from simulink to send data via CAN messages.

Answer 1

Unfortunately, Robotics System Toolbox does not support ROS node generation for models that contain models generating shared libraries like CAN Transmit block in Vehicle Network Toolbox. https://mathworks.com/help/vnt/ug/cantransmit.html

To create the ROS node linking the shared libraries, you'll need to generate C code from models not containing ROS blocks, package the necessary files with packNGo, and then write a custom ROS wrapper code and CMakeLists.txt by hand.