MATLAB: How to subscribe/publish to custom messages using rosmatlab

publisherrosrosjavarosmmatlabsubscriber

I completed the getting started examples and also did some publishing/subscribing from matlab to standard ros nodes, but only for std_msgs. Now I want to use a custom message (foo_msg) from one of my package (foo), if I use rosmsg in the shell I can see it.
But if, in matlab I try to create publsiher, for a matlab node already created, typing : publisher = rosmatlab.publisher('TOPIC', 'foo/foo_msg', node); I get :
    Error using rosmatlab.node/addPublisher (line 543)
    Java exception occurred:
    org.ros.exception.RosMessageRuntimeException:
    java.lang.ClassNotFoundException: foo.foo_msg
      at
            org.ros.internal.message.definition.MessageDefinitionReflectionProvider.get(MessageDefinitionReflectionProvider.java:58)
              at
            org.ros.internal.message.Md5Generator.generate(Md5Generator.java:44)
              at
            org.ros.internal.message.topic.TopicDescriptionFactory.newFromType(TopicDescriptionFactory.java:36)
              at
            org.ros.internal.node.DefaultNode.newPublisher(DefaultNode.java:270)
              at
            org.ros.internal.node.DefaultNode.newPublisher(DefaultNode.java:280)
            Caused by: java.lang.ClassNotFoundException:
            foo.foo_msg
      at java.net.URLClassLoader$1.run(Unknown Source)
      at
            java.security.AccessController.doPrivileged(Native
            Method)
      at java.net.URLClassLoader.findClass(Unknown
            Source)
      at java.lang.ClassLoader.loadClass(Unknown
            Source)
      at
            sun.misc.Launcher$AppClassLoader.loadClass(Unknown
            Source)
      at java.lang.ClassLoader.loadClass(Unknown
            Source)
      at
            org.ros.internal.message.definition.MessageDefinitionReflectionProvider.get(MessageDefinitionReflectionProvider.java:54)
              ... 4 more
Therefore the publsiher is not created, the same appends for the subscriber.
Does anyone know how to add customs messages ?
Thanks, Nicolas

Best Answer

In 2015a, MathWorks released the ( Robotics System Toolbox ), which provides an interface from MATLAB and Simulink to ROS. You can also generate C++ code for a standalone ROS node from Simulink.
The toolbox natively supports custom messages once you install the Robotics System Toolbox Interface for ROS Custom Messages. This allows you to take arbitrary MSG and SRV files and generate the corresponding MATLAB message and service interfaces.
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