Synchronise ROS with Simulink

Hello,

is there any possibility to synchronise ROS and Simulink with the ROS time?

Thanks!

Answer 1

[Sebastian Castro]

What exactly do you mean by this?

There's a real-time pacer block on the File Exchange, which is very common for Simulink-ROS desktop applications.

This block will essentially slow down your Simulink model using your host CPU clock; otherwise, Simulink will just run as fast as it can. Hopefully that was your problem and I understood it correctly?

- Sebastian

[JR]

I would like to use the ROS /clock which is generated by Gazebo in Simulink. It should be possible faster than realtime.

Thanks for you help!

[Sebastian Castro]

I see.

Well, you could subscribe to the /clock topic and grab the times from there (or otherwise grab them from the timestamp data of any other message coming in).

You can use that in a Triggered Subsystem. This subsystem will execute only when its control signal is triggered; for example, when the ROS clock time exceeds some value.