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Simulink/ROS Publishing pose of a 7 DOF arm using moveit_msg​s/MoveGrou​pActionGoa​l

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Ehtisham ul Hasan
Ehtisham ul Hasan on 25 Mar 2021
Hi,
Not being able to update ROs messages in ROS kinetic and Matlab 2020a. I have now moved to ROS Melodic and Matlab 2020b. I have a ROS based model and I control it using Moveit. Now I want to use the ROS toolbox and publish to moveit_msgs in ROS.
I have the following ros actions available
/execute_trajectory
/mhuman/arm_controller/follow_joint_trajectory
/mhuman/gripper_controller/follow_joint_trajectory
/move_group
/pickup
/place
I selected /move_group which has message type as moveit_msgs/MoveGroupActionGoal but I get errors such as
When I assign group name in matlab function block
msg.Goal.Request.GroupName='right_arm';
Error is
This assignment writes a 'char' value into a 'uint8' type. Code generation does not support changing types through assignment. Check preceding assignments or input type specifications for type mismatches.
When I try to fill in the other fields for position and orientation
msg.Goal.Request.StartState.MultiDOfJointState.Transforms.Translation.X=0.30; (do the same for translation Y and Z and also for rotation which is in X,Y,Z,W)
Error is
This structure does not have a field 'MultiDOfJointState'; new fields cannot be added when structure has been read or used.
I request MathWorks Team to please help me in this regard.
Best
Hasan

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