i am currently working on interfacing Matlab 2018a with Gazebo on a Virtual Machine. I want to design a robot controller in Simulink and simulate the dynamics of the mobile manipulator(KUKA youBot) in Gazebo.
I have already setup Matlab/Simulink and ROS/Gazebo. I can subscribe and publish messages like /odom or /vel_cmd. But I have problems to setup a /trajectory_msgs/JointTrajectory message to control the movement of the arm. I seem to not be able to setup the message correctly.
For the elements JointNames and Points the error message said that the bus structure doesn't match. And for Points.Positions, Points.Velocities, Points.Accelerations the error states that I cannot acces this data as it is inside a bus element. Can someone help me how to setup this ROS message correctly?
Thank you in advance and if you need further information feel free to ask me.....