MATLAB: Updating ros messages for moveit!

custom messagesrosROS Toolboxrosgenmsg

I have trouble updating ROS messages for the package moveit. rosgenmsg has worked well with other costum messages.

I get the error "Output argument "msgFolder" (and maybe others) not assigned during call to "ros.custommsg.internal/CustomMessageLoader/loadMessages"." When calling rosgenmsg("~/costum_messages") which is the folder that contains moveit_msgs folder with the messages.

I wonder if it has something to do with the package.xml and the dependencies, but MATLAB already has all of the message types that are required in the dependencies. Here they are:

<depend>message_generation</depend>

<depend>octomap_msgs</depend>

<depend>actionlib_msgs</depend>

<depend>sensor_msgs</depend>

<depend>geometry_msgs</depend>

<depend>trajectory_msgs</depend>

<depend>shape_msgs</depend>

<depend>object_recognition_msgs</depend>

Best Answer

Hello Pouria,

Unfortunately, the MATLAB ROS custom message capabilities currently only support the "format 1" style for the package.xml file (see here and here). The <depend> flag was only introduced in format 2. You should be able to convert those to <build_depend> tags instead. You can see some simple example package definitions at this location:

fullfile(fileparts(which('rosgenmsg')), 'examples', 'packages')

-Cam

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Found the issue: in package.xml the messages are defined as "<build>" instead of "<build_depend>". Working package.xml file below:

<?xml version="1.0"?>
<package format="2">
  <name>apriltags</name>
  <version>0.0.2</version>
  <description>
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  <url type="repository">https://github.com/personalrobotics/apriltags</url>
  <maintainer email="awalsman@andrew.cmu.edu">Aaron Walsman</maintainer>
  <author email="awalsman@andrew.cmu.edu">Aaron Walsman</author>
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  <license>BSD</license>
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  <build_depend>eigen</build_depend>
  <build_depend>git</build_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>visualization_msgs</build_depend>
  <depend>cgal</depend>
  <depend>cv_bridge</depend>
  <depend>geometry_msgs</depend>
  <depend>image_transport</depend>
  <depend>libopencv-dev</depend>
  <depend>roscpp</depend>
  <depend>sensor_msgs</depend>
  <depend>std_msgs</depend>
  <depend>visualization_msgs</depend>
  <depend>apriltagscpp</depend>
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MATLAB: Fail to create ROS Publisher and ROS subscriber

Hello Ignacio,

The message type "geometry_msgs/Twist" is one of the standard, built-in ROS message types. However, the message type "turtlebot3_msgs/Sound" is a custom message type specific to the TurtleBot3. You'll need to make that message type available to MATLAB by building the "turtlebot3_msgs" package with the MATLAB Support Package for ROS Custom Messages.

-Cam

Best Answer

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