ros2message

Create ROS 2 message structures

Syntax

msg = ros2message(msgType)

msg = rosmessage(pub)

msg = rosmessage(sub)

msg = ros2message(client)

msg = ros2message(server)

Description

msg = ros2message(msgType) creates a structure compatible with ROS 2 messages of type msgType. It must match a message on the list given by calling ros2 msg list. If the message type is not present in the list, use ros2genmsg function to add it.

msg = rosmessage(pub) creates an empty message determined by the topic published by the ROS 2 publisher pub.

msg = rosmessage(sub) creates an empty message determined by the subscribed topic of the ROS 2 subscriber sub.

msg = ros2message(client) creates an empty message determined by the action associated with the ROS 2 action client, client.

msg = ros2message(server) creates an empty result message determined by the action associated with the ROS 2 action server, server.

Examples

Create a String Message

Create a ROS 2 string message.

strMsg = ros2message('std_msgs/String')

strMsg = struct with fields:
    MessageType: 'std_msgs/String'
           data: ''

Create an empty laser scan message

Create an empty ROS 2 laser scan message.

scanMsg = ros2message("sensor_msgs/LaserScan")

scanMsg = struct with fields:
        MessageType: 'sensor_msgs/LaserScan'
             header: [1×1 struct]
          angle_min: 0
          angle_max: 0
    angle_increment: 0
     time_increment: 0
          scan_time: 0
          range_min: 0
          range_max: 0
             ranges: 0
        intensities: 0

Input Arguments

msgType — Message type for a ROS 2 topic

character vector

Message type for a ROS 2 topic, specified as a character vector.

pub — ROS 2 publisher

ros2publisher object handle

ROS 2 publisher, specified as a ros2publisher object handle.

sub — ROS 2 subscriber

ros2subscriber object handle

ROS 2 subscriber, specified as a ros2subscriber object handle.

client — ROS 2 action client

ros2actionclient object handle

ROS 2 action client, specified as a ros2actionclient object handle.

server — ROS 2 action server

ros2actionserver object handle

ROS 2 action server, specified as a ros2actionserver object handle.

Output Arguments

msg — ROS 2 message for a given topic

structure

ROS 2 message for a given topic, returned as a message structure.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

This function supports C/C++ code generation with the limitations:

• For messages with fields containing cell array of strings, such as sensor_msgs/JointState, accessing those fields in the MATLAB^® function is not supported.

Version History

Introduced in R2019b

R2022a: Deprecation of Messages

The following messages in std_msgs is deprecated in ROS 2 Foxy Fitzroy.

Messages
std_msgs/msg/Bool
std_msgs/msg/Byte
std_msgs/msg/ByteMultiArray
std_msgs/msg/Char
std_msgs/msg/Float32
std_msgs/msg/Float32MultiArray
std_msgs/msg/Float64
std_msgs/msg/Float64MultiArray
std_msgs/msg/Int16
std_msgs/msg/Int16MultiArray
std_msgs/msg/Int32
std_msgs/msg/Int32MultiArray
std_msgs/msg/Int64
std_msgs/msg/Int64MultiArray
std_msgs/msg/Int8
std_msgs/msg/Int8MultiArray
std_msgs/msg/MultiArrayDimension
std_msgs/msg/MultiArrayLayout
std_msgs/msg/String
std_msgs/msg/UInt16
std_msgs/msg/UInt16MultiArray
std_msgs/msg/UInt32
std_msgs/msg/UInt32MultiArray
std_msgs/msg/UInt64
std_msgs/msg/UInt64MultiArray
std_msgs/msg/UInt8
std_msgs/msg/UInt8MultiArray