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In case someone is still facing this issue, Matlab explains how to change the limits imposed on variable string messages under the following link (Work with ROS Messages in Simulink®):

https://nl.mathworks.com/help/ros/ug/work-with-ros-messages-in-simulink.html#WorkWithROSMessagesInSimulinkExample-11

The issue which remains is that sometimes you don't have the ROS Toolbox part under the simulation tab. If this is the case, go to APPS and click on Robot Operating System (ROS) to connect your model to ROS. The ROS Toolbox section should now appear under simulation.

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