rosmessage
Create ROS messages
Syntax
Description
creates an empty ROS message object with message type. The
msg
= rosmessage(messagetype
)messagetype
string scalar is case-sensitive and no
partial matches are allowed. It must match a message on the list given by
calling
. If the
message type is not present in the list, use rosmsg
listrosgenmsg
function to add it.
Note
In a future release, ROS Toolbox will use message structures instead of objects for ROS messages.
To use message structures now, set the "DataFormat"
name-value
argument to "struct"
. For more information, see ROS Message Structures.
creates an empty message as a message structure with any of the arguments in
previous syntaxes. For more information, see ROS Message Structures.msg
= rosmessage(___,"DataFormat","struct")
Examples
Create Empty String Message
Create a ROS message as a structure with the std_msgs/String
message type.
strMsg = rosmessage("std_msgs/String","DataFormat","struct")
strMsg = struct with fields:
MessageType: 'std_msgs/String'
Data: ''
Create ROS Publisher and Send Data
Start ROS master.
rosinit
Launching ROS Core... Done in 0.69295 seconds. Initializing ROS master on http://172.20.225.136:52360. Initializing global node /matlab_global_node_69491 with NodeURI http://dcc882528glnxa64:39813/ and MasterURI http://localhost:52360.
Create publisher for the /chatter
topic with the std_msgs/String
message type. Set the "DataFormat"
name-value argument to structure ROS messages.
chatpub = rospublisher("/chatter","std_msgs/String","DataFormat","struct");
Create a message to send. Specify the Data
property with a character vector.
msg = rosmessage(chatpub);
msg.Data = 'test phrase';
Send the message via the publisher.
send(chatpub,msg);
Shut down the ROS network.
rosshutdown
Shutting down global node /matlab_global_node_69491 with NodeURI http://dcc882528glnxa64:39813/ and MasterURI http://localhost:52360. Shutting down ROS master on http://172.20.225.136:52360.
Create and Access Array of ROS Messages
You can create an structure array to store multiple messages. The array is indexable, similar to any other array. You can modify properties of each object or access specific properties from each element using dot notation.
Create an array of two messages. Specify the DataFormat
name-value argument to use structures for ROS messages.
blankMsg = rosmessage("std_msgs/String","DataFormat","struct")
blankMsg = struct with fields:
MessageType: 'std_msgs/String'
Data: ''
msgArray = [blankMsg blankMsg]
msgArray=1×2 struct array with fields:
MessageType
Data
Assign data to individual message fields in the array.
msgArray(1).Data = 'Some string'; msgArray(2).Data = 'Other string';
Read all the Data
fields from the messages into a cell array.
allData = {msgArray.Data}
allData = 1x2 cell
{'Some string'} {'Other string'}
Preallocate ROS Message Array
To preallocate an array using ROS messages as objects, use the arrayfun
or cellfun
functions instead of repmat
. These functions properly create object or cell arrays for handle classes.
Note: In a future release, ROS message objects will be removed. To use ROS messages as structures and utilize structure arrays, specify the DataFormat
name-value pair when calling the rosmessage
function.
Preallocate an object array of ROS messages.
msgArray = arrayfun(@(~) rosmessage("std_msgs/String"),zeros(1,50));
Preallocate a cell array of ROS messages.
msgCell = cellfun(@(~) rosmessage("std_msgs/String"),cell(1,50),"UniformOutput",false);
Input Arguments
messagetype
— Message type
string scalar | character vector
Message type, specified as a string scalar or character vector. The string is case-sensitive
and no partial matches are allowed. It must match a message on the list
given by calling rosmsg("list")
.
pub
— ROS publisher
Publisher
object handle
ROS publisher, specified as a Publisher
object handle. You can create the
object using rospublisher
.
sub
— ROS subscriber
Subscriber
object handle
ROS subscriber, specified as a Subscriber
object handle. You can create the
object using rossubscriber
.
client
— ROS service or action client
ServiceClient
object handle | ActionClient
object handle
ROS service or action client, specified as a
ServiceClient
or ActionClient
object handle. You can create a service or action client object using
rossvcclient
or rosactionclient
respectively.
server
— ROS service or action server
ServiceServer
object handle | ActionServer
object handle
ROS service or action server, specified as a
ServiceServer
or ActionServer
object handle. You can create a service or action server object using
rossvcserver
or rosactionserver
respectively.
Output Arguments
msg
— ROS message
Message
object handle | structure
ROS message, returned as a Message
object handle or a structure.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Usage notes and limitations:
Supported only for
struct
messages.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 R2019bR2022a: Unsupported ROS Message Types
Message Types |
---|
adhoc_communication/ExpAuction |
adhoc_communication/ExpCluster |
adhoc_communication/ExpFrontier |
adhoc_communication/ExpFrontierElement |
adhoc_communication/SendExpAuctionRequest |
adhoc_communication/SendExpClusterRequest |
adhoc_communication/SendExpFrontierRequest |
arbotix_msgs/Analog |
baxter_core_msgs/AssemblyState |
baxter_core_msgs/AssemblyStates |
baxter_core_msgs/EndEffectorProperties |
baxter_core_msgs/HeadPanCommand |
baxter_core_msgs/HeadState |
baxter_core_msgs/NavigatorState |
baxter_core_msgs/NavigatorStates |
baxter_core_msgs/SEAJointState |
baxter_maintenance_msgs/CalibrateArmData |
baxter_maintenance_msgs/CalibrateArmEnable |
capabilities/StartCapabilityResponse |
cmvision/Blob |
cmvision/Blobs |
cob_grasp_generation/GenerateGraspsAction |
cob_grasp_generation/GenerateGraspsActionGoal |
cob_grasp_generation/GenerateGraspsGoal |
cob_grasp_generation/QueryGraspsAction |
cob_grasp_generation/QueryGraspsActionGoal |
cob_grasp_generation/QueryGraspsGoal |
cob_grasp_generation/ShowGraspsAction |
cob_grasp_generation/ShowGraspsActionGoal |
cob_grasp_generation/ShowGraspsGoal |
cob_light/LightMode |
cob_light/SetLightModeAction |
cob_light/SetLightModeActionGoal |
cob_light/SetLightModeActionResult |
cob_light/SetLightModeGoal |
cob_light/SetLightModeRequest |
cob_light/SetLightModeResponse |
cob_light/SetLightModeResult |
cob_lookat_action/LookAtAction |
cob_lookat_action/LookAtActionFeedback |
cob_lookat_action/LookAtActionGoal |
cob_lookat_action/LookAtActionResult |
cob_lookat_action/LookAtFeedback |
cob_lookat_action/LookAtGoal |
cob_lookat_action/LookAtResult |
cob_pick_place_action/CobPickAction |
cob_pick_place_action/CobPickActionGoal |
cob_pick_place_action/CobPickGoal |
cob_script_server/ScriptState |
cob_script_server/StateAction |
cob_script_server/StateActionGoal |
cob_script_server/StateGoal |
cob_sound/SayAction |
cob_sound/SayActionGoal |
cob_sound/SayActionResult |
cob_sound/SayGoal |
cob_sound/SayResult |
cob_srvs/SetFloatResponse |
cob_srvs/SetIntResponse |
cob_srvs/SetStringResponse |
control_toolbox/SetPidGainsRequest |
controller_manager_msgs/ControllerState |
controller_manager_msgs/ListControllersResponse |
controller_manager_msgs/SwitchControllerRequest |
data_vis_msgs/DataVis |
data_vis_msgs/ValueList |
designator_integration_msgs/Designator |
designator_integration_msgs/DesignatorCommunicationRequest |
designator_integration_msgs/DesignatorCommunicationResponse |
designator_integration_msgs/DesignatorRequest |
designator_integration_msgs/DesignatorResponse |
designator_integration_msgs/KeyValuePair |
gateway_msgs/GatewayInfo |
gateway_msgs/RemoteGateway |
gateway_msgs/RemoteGatewayInfoResponse |
graph_msgs/GeometryGraph |
grizzly_msgs/Ambience |
hector_nav_msgs/GetNormalResponse |
image_view2/ImageMarker2 |
jsk_rviz_plugins/OverlayMenu |
jsk_topic_tools/UpdateRequest |
kobuki_msgs/ButtonEvent |
kobuki_msgs/KeyboardInput |
leap_motion/leapros |
moveit_msgs/AttachedCollisionObject |
moveit_msgs/CollisionObject |
moveit_msgs/Constraints |
moveit_msgs/DisplayRobotState |
moveit_msgs/DisplayTrajectory |
moveit_msgs/ExecuteKnownTrajectoryResponse |
moveit_msgs/GetCartesianPathRequest |
moveit_msgs/GetCartesianPathResponse |
moveit_msgs/GetMotionPlanRequest |
moveit_msgs/GetMotionPlanResponse |
moveit_msgs/GetPlanningSceneResponse |
moveit_msgs/GetPositionFKRequest |
moveit_msgs/GetPositionFKResponse |
moveit_msgs/GetPositionIKRequest |
moveit_msgs/GetPositionIKResponse |
moveit_msgs/GetStateValidityRequest |
moveit_msgs/MotionPlanDetailedResponse |
moveit_msgs/MotionPlanRequest |
moveit_msgs/MotionPlanResponse |
moveit_msgs/MoveGroupAction |
moveit_msgs/MoveGroupActionGoal |
moveit_msgs/MoveGroupActionResult |
moveit_msgs/MoveGroupGoal |
moveit_msgs/MoveGroupResult |
moveit_msgs/MoveItErrorCodes |
moveit_msgs/OrientationConstraint |
moveit_msgs/PickupAction |
moveit_msgs/PickupActionGoal |
moveit_msgs/PickupActionResult |
moveit_msgs/PickupGoal |
moveit_msgs/PickupResult |
moveit_msgs/PlaceAction |
moveit_msgs/PlaceActionGoal |
moveit_msgs/PlaceActionResult |
moveit_msgs/PlaceGoal |
moveit_msgs/PlaceLocation |
moveit_msgs/PlaceResult |
moveit_msgs/PlannerInterfaceDescription |
moveit_msgs/PlanningOptions |
moveit_msgs/PlanningScene |
moveit_msgs/PlanningSceneWorld |
moveit_msgs/PositionIKRequest |
moveit_msgs/QueryPlannerInterfacesResponse |
moveit_msgs/RobotState |
moveit_msgs/TrajectoryConstraints |
pddl_msgs/PDDLAction |
pddl_msgs/PDDLActionArray |
pddl_msgs/PDDLDomain |
pddl_msgs/PDDLPlannerAction |
pddl_msgs/PDDLPlannerActionGoal |
pddl_msgs/PDDLPlannerActionResult |
pddl_msgs/PDDLPlannerGoal |
pddl_msgs/PDDLPlannerResult |
pddl_msgs/PDDLStep |
posedetection_msgs/DetectResponse |
posedetection_msgs/Object6DPose |
posedetection_msgs/ObjectDetection |
roboteq_msgs/Command |
robotnik_msgs/Axis |
robotnik_msgs/MotorStatus |
robotnik_msgs/MotorsStatus |
rocon_std_msgs/MasterInfo |
rocon_std_msgs/Strings |
scheduler_msgs/CurrentStatus |
scheduler_msgs/KnownResources |
scheduler_msgs/Request |
scheduler_msgs/Resource |
scheduler_msgs/SchedulerRequests |
sound_play/SoundRequest |
stdr_msgs/KinematicMsg |
stdr_msgs/RegisterGuiResponse |
stdr_msgs/RegisterRobotAction |
stdr_msgs/RegisterRobotActionResult |
stdr_msgs/RegisterRobotResult |
stdr_msgs/RobotIndexedMsg |
stdr_msgs/RobotIndexedVectorMsg |
stdr_msgs/RobotMsg |
stdr_msgs/SpawnRobotAction |
stdr_msgs/SpawnRobotActionGoal |
stdr_msgs/SpawnRobotActionResult |
stdr_msgs/SpawnRobotGoal |
stdr_msgs/SpawnRobotResult |
visp_tracker/InitRequest |
visp_tracker/KltSettings |
visp_tracker/MovingEdgeSettings |
wireless_msgs/Connection |
R2022a: Newly Added ROS Message Types
Message Types |
---|
adhoc_communication/ExpAuctionElement |
adhoc_communication/ExpClusterElement |
audio_common_msgs/AudioInfo |
baxter_core_msgs/URDFConfiguration |
clearpath_base/GPADCOutput |
clearpath_base/GPIO |
clearpath_base/Joy |
clearpath_base/JoySwitch |
clearpath_base/Magnetometer |
clearpath_base/Orientation |
clearpath_base/RotateRate |
clearpath_base/StateChange |
cob_light/ColorRGBAArray |
cob_light/LightModes |
cob_light/Sequence |
cob_light/StopLightModeRequest |
cob_light/StopLightModeResponse |
cob_perception_msgs/ColorDepthImage |
cob_perception_msgs/ColorDepthImageArray |
cob_perception_msgs/Detection |
cob_perception_msgs/DetectionArray |
cob_perception_msgs/Float64ArrayStamped |
cob_perception_msgs/Mask |
cob_perception_msgs/People |
cob_perception_msgs/Person |
cob_perception_msgs/PersonStamped |
cob_perception_msgs/PositionMeasurement |
cob_perception_msgs/PositionMeasurementArray |
cob_perception_msgs/Rect |
cob_perception_msgs/Skeleton |
cob_script_server/ComposeTrajectoryRequest |
cob_script_server/ComposeTrajectoryResponse |
cob_sound/PlayAction |
cob_sound/PlayActionFeedback |
cob_sound/PlayActionGoal |
cob_sound/PlayActionResult |
cob_sound/PlayFeedback |
cob_sound/PlayGoal |
cob_sound/PlayResult |
cob_srvs/DockRequest |
cob_srvs/DockResponse |
controller_manager_msgs/HardwareInterfaceResources |
data_vis_msgs/Speech |
data_vis_msgs/Task |
data_vis_msgs/TaskTree |
fkie_multimaster_msgs/DiscoverMastersRequest |
fkie_multimaster_msgs/DiscoverMastersResponse |
fkie_multimaster_msgs/GetSyncInfoRequest |
fkie_multimaster_msgs/GetSyncInfoResponse |
fkie_multimaster_msgs/LinkState |
fkie_multimaster_msgs/LinkStatesStamped |
fkie_multimaster_msgs/LoadLaunchRequest |
fkie_multimaster_msgs/LoadLaunchResponse |
fkie_multimaster_msgs/MasterState |
fkie_multimaster_msgs/ROSMaster |
fkie_multimaster_msgs/SyncMasterInfo |
fkie_multimaster_msgs/SyncServiceInfo |
fkie_multimaster_msgs/SyncTopicInfo |
fkie_multimaster_msgs/TaskRequest |
fkie_multimaster_msgs/TaskResponse |
gateway_msgs/ConnectionStatistics |
gateway_msgs/RemoteRuleWithStatus |
gazebo_msgs/DeleteLightRequest |
gazebo_msgs/DeleteLightResponse |
gazebo_msgs/GetLightPropertiesRequest |
gazebo_msgs/GetLightPropertiesResponse |
gazebo_msgs/PerformanceMetrics |
gazebo_msgs/SensorPerformanceMetric |
gazebo_msgs/SetLightPropertiesRequest |
gazebo_msgs/SetLightPropertiesResponse |
geographic_msgs/GeoPath |
geographic_msgs/GeoPointStamped |
geographic_msgs/GeoPoseStamped |
geographic_msgs/GetGeoPathRequest |
geographic_msgs/GetGeoPathResponse |
grizzly_msgs/Indicators |
grizzly_msgs/Status |
hector_mapping/ResetMappingRequest |
hector_mapping/ResetMappingResponse |
image_view2/ChangeModeRequest |
image_view2/ChangeModeResponse |
image_view2/MouseEvent |
jsk_footstep_controller/FootCoordsLowLevelInfo |
jsk_footstep_controller/GoPosAction |
jsk_footstep_controller/GoPosActionFeedback |
jsk_footstep_controller/GoPosActionGoal |
jsk_footstep_controller/GoPosActionResult |
jsk_footstep_controller/GoPosFeedback |
jsk_footstep_controller/GoPosGoal |
jsk_footstep_controller/GoPosResult |
jsk_footstep_controller/GroundContactState |
jsk_footstep_controller/LookAroundGroundAction |
jsk_footstep_controller/LookAroundGroundActionFeedback |
jsk_footstep_controller/LookAroundGroundActionGoal |
jsk_footstep_controller/LookAroundGroundActionResult |
jsk_footstep_controller/LookAroundGroundFeedback |
jsk_footstep_controller/LookAroundGroundGoal |
jsk_footstep_controller/LookAroundGroundResult |
jsk_footstep_controller/RequireMonitorStatusRequest |
jsk_footstep_controller/RequireMonitorStatusResponse |
jsk_footstep_controller/SynchronizedForces |
jsk_gui_msgs/SlackMessage |
jsk_gui_msgs/YesNoRequest |
jsk_gui_msgs/YesNoResponse |
jsk_network_tools/AllTypeTest |
jsk_network_tools/CompressedAngleVectorPR2 |
jsk_network_tools/FC2OCS |
jsk_network_tools/FC2OCSLargeData |
jsk_network_tools/OCS2FC |
jsk_network_tools/OpenNISample |
jsk_network_tools/SetSendRateRequest |
jsk_network_tools/SetSendRateResponse |
jsk_network_tools/SilverhammerInternalBuffer |
jsk_network_tools/WifiStatus |
jsk_rviz_plugins/EusCommandRequest |
jsk_rviz_plugins/EusCommandResponse |
jsk_rviz_plugins/ObjectFitCommand |
jsk_rviz_plugins/Pictogram |
jsk_rviz_plugins/PictogramArray |
jsk_rviz_plugins/RecordCommand |
jsk_rviz_plugins/RequestMarkerOperateRequest |
jsk_rviz_plugins/RequestMarkerOperateResponse |
jsk_rviz_plugins/ScreenshotRequest |
jsk_rviz_plugins/ScreenshotResponse |
jsk_rviz_plugins/StringStamped |
jsk_rviz_plugins/TransformableMarkerOperate |
jsk_topic_tools/ChangeTopicRequest |
jsk_topic_tools/ChangeTopicResponse |
jsk_topic_tools/PassthroughDurationRequest |
jsk_topic_tools/PassthroughDurationResponse |
kingfisher_msgs/Power |
kobuki_msgs/ScanAngle |
leap_motion/Bone |
leap_motion/Finger |
leap_motion/Gesture |
leap_motion/Hand |
leap_motion/Human |
move_base_msgs/RecoveryStatus |
moveit_msgs/ApplyPlanningSceneRequest |
moveit_msgs/ApplyPlanningSceneResponse |
moveit_msgs/CartesianPoint |
moveit_msgs/CartesianTrajectory |
moveit_msgs/CartesianTrajectoryPoint |
moveit_msgs/ChangeControlDimensionsRequest |
moveit_msgs/ChangeControlDimensionsResponse |
moveit_msgs/ChangeDriftDimensionsRequest |
moveit_msgs/ChangeDriftDimensionsResponse |
moveit_msgs/CheckIfRobotStateExistsInWarehouseRequest |
moveit_msgs/CheckIfRobotStateExistsInWarehouseResponse |
moveit_msgs/DeleteRobotStateFromWarehouseRequest |
moveit_msgs/DeleteRobotStateFromWarehouseResponse |
moveit_msgs/ExecuteTrajectoryAction |
moveit_msgs/ExecuteTrajectoryActionFeedback |
moveit_msgs/ExecuteTrajectoryActionGoal |
moveit_msgs/ExecuteTrajectoryActionResult |
moveit_msgs/ExecuteTrajectoryFeedback |
moveit_msgs/ExecuteTrajectoryGoal |
moveit_msgs/ExecuteTrajectoryResult |
moveit_msgs/GenericTrajectory |
moveit_msgs/GetMotionSequenceRequest |
moveit_msgs/GetMotionSequenceResponse |
moveit_msgs/GetPlannerParamsRequest |
moveit_msgs/GetPlannerParamsResponse |
moveit_msgs/GetRobotStateFromWarehouseRequest |
moveit_msgs/GetRobotStateFromWarehouseResponse |
moveit_msgs/GraspPlanningRequest |
moveit_msgs/GraspPlanningResponse |
moveit_msgs/ListRobotStatesInWarehouseRequest |
moveit_msgs/ListRobotStatesInWarehouseResponse |
moveit_msgs/MotionSequenceItem |
moveit_msgs/MotionSequenceRequest |
moveit_msgs/MotionSequenceResponse |
moveit_msgs/MoveGroupSequenceAction |
moveit_msgs/MoveGroupSequenceActionFeedback |
moveit_msgs/MoveGroupSequenceActionGoal |
moveit_msgs/MoveGroupSequenceActionResult |
moveit_msgs/MoveGroupSequenceFeedback |
moveit_msgs/MoveGroupSequenceGoal |
moveit_msgs/MoveGroupSequenceResult |
moveit_msgs/PlannerParams |
moveit_msgs/RenameRobotStateInWarehouseRequest |
moveit_msgs/RenameRobotStateInWarehouseResponse |
moveit_msgs/SaveRobotStateToWarehouseRequest |
moveit_msgs/SaveRobotStateToWarehouseResponse |
moveit_msgs/SetPlannerParamsRequest |
moveit_msgs/SetPlannerParamsResponse |
moveit_msgs/UpdatePointcloudOctomapRequest |
moveit_msgs/UpdatePointcloudOctomapResponse |
multisense_ros/DeviceStatus |
posedetection_msgs/TargetObjRequest |
posedetection_msgs/TargetObjResponse |
rmp_msgs/RMPBatteryStatus |
rmp_msgs/RMPCommand |
rmp_msgs/RMPFeedback |
robotnik_msgs/BatteryDockingStatus |
robotnik_msgs/BatteryDockingStatusStamped |
robotnik_msgs/BatteryStatus |
robotnik_msgs/BatteryStatusStamped |
robotnik_msgs/BoolArray |
robotnik_msgs/Cartesian_Euler_pose |
robotnik_msgs/ElevatorAction |
robotnik_msgs/ElevatorStatus |
robotnik_msgs/GetBoolRequest |
robotnik_msgs/GetBoolResponse |
robotnik_msgs/GetMotorsHeadingOffsetRequest |
robotnik_msgs/GetMotorsHeadingOffsetResponse |
robotnik_msgs/InsertTaskRequest |
robotnik_msgs/InsertTaskResponse |
robotnik_msgs/InverterStatus |
robotnik_msgs/LaserMode |
robotnik_msgs/LaserStatus |
robotnik_msgs/MotorHeadingOffset |
robotnik_msgs/MotorPID |
robotnik_msgs/MotorsStatusDifferential |
robotnik_msgs/Pose2DArray |
robotnik_msgs/Pose2DStamped |
robotnik_msgs/PresenceSensor |
robotnik_msgs/PresenceSensorArray |
robotnik_msgs/QueryAlarm |
robotnik_msgs/QueryAlarmsRequest |
robotnik_msgs/QueryAlarmsResponse |
robotnik_msgs/Register |
robotnik_msgs/Registers |
robotnik_msgs/ResetFromSubStateRequest |
robotnik_msgs/ResetFromSubStateResponse |
robotnik_msgs/ReturnMessage |
robotnik_msgs/RobotnikMotorsStatus |
robotnik_msgs/SafetyModuleStatus |
robotnik_msgs/SetBuzzerRequest |
robotnik_msgs/SetBuzzerResponse |
robotnik_msgs/SetByteRequest |
robotnik_msgs/SetByteResponse |
robotnik_msgs/SetElevatorAction |
robotnik_msgs/SetElevatorActionFeedback |
robotnik_msgs/SetElevatorActionGoal |
robotnik_msgs/SetElevatorActionResult |
robotnik_msgs/SetElevatorFeedback |
robotnik_msgs/SetElevatorGoal |
robotnik_msgs/SetElevatorRequest |
robotnik_msgs/SetElevatorResponse |
robotnik_msgs/SetElevatorResult |
robotnik_msgs/SetEncoderTurnsRequest |
robotnik_msgs/SetEncoderTurnsResponse |
robotnik_msgs/SetLaserModeRequest |
robotnik_msgs/SetLaserModeResponse |
robotnik_msgs/SetMotorModeRequest |
robotnik_msgs/SetMotorModeResponse |
robotnik_msgs/SetMotorPIDRequest |
robotnik_msgs/SetMotorPIDResponse |
robotnik_msgs/SetMotorStatusRequest |
robotnik_msgs/SetMotorStatusResponse |
robotnik_msgs/SetNamedDigitalOutputRequest |
robotnik_msgs/SetNamedDigitalOutputResponse |
robotnik_msgs/SetTransformRequest |
robotnik_msgs/SetTransformResponse |
robotnik_msgs/State |
robotnik_msgs/StringArray |
robotnik_msgs/SubState |
robotnik_msgs/ack_alarmRequest |
robotnik_msgs/ack_alarmResponse |
robotnik_msgs/alarmmonitor |
robotnik_msgs/alarmsmonitor |
robotnik_msgs/get_alarmsRequest |
robotnik_msgs/get_alarmsResponse |
robotnik_msgs/get_modbus_registerRequest |
robotnik_msgs/get_modbus_registerResponse |
robotnik_msgs/named_input_output |
robotnik_msgs/named_inputs_outputs |
robotnik_msgs/set_CartesianEuler_poseRequest |
robotnik_msgs/set_CartesianEuler_poseResponse |
robotnik_msgs/set_modbus_registerRequest |
robotnik_msgs/set_modbus_registerResponse |
robotnik_msgs/set_named_digital_outputRequest |
robotnik_msgs/set_named_digital_outputResponse |
rocon_std_msgs/Connection |
rocon_std_msgs/ConnectionCacheSpin |
rocon_std_msgs/ConnectionsDiff |
rocon_std_msgs/ConnectionsList |
rocon_std_msgs/EmptyStringRequest |
rocon_std_msgs/EmptyStringResponse |
rocon_std_msgs/Float32Stamped |
roseus/FixedArray |
roseus/TestName |
roseus/VariableArray |
rospy_message_converter/NestedUint8ArrayTestMessage |
rospy_message_converter/NestedUint8ArrayTestServiceRequest |
rospy_message_converter/NestedUint8ArrayTestServiceResponse |
rospy_message_converter/Uint8Array3TestMessage |
rospy_message_converter/Uint8ArrayTestMessage |
rtt_ros_msgs/EvalRequest |
rtt_ros_msgs/EvalResponse |
schunk_sdh/PressureArray |
schunk_sdh/PressureArrayList |
schunk_sdh/TemperatureArray |
sound_play/SoundRequestAction |
sound_play/SoundRequestActionFeedback |
sound_play/SoundRequestActionGoal |
sound_play/SoundRequestActionResult |
sound_play/SoundRequestFeedback |
sound_play/SoundRequestGoal |
sound_play/SoundRequestResult |
speech_recognition_msgs/Grammar |
speech_recognition_msgs/PhraseRule |
speech_recognition_msgs/SpeechRecognitionRequest |
speech_recognition_msgs/SpeechRecognitionResponse |
speech_recognition_msgs/Vocabulary |
visp_tracker/TrackerSettings |
R2022a: Deleted ROS Message Types
Message Types |
---|
baxter_core_msgs/ITBState |
baxter_core_msgs/ITBStates |
cob_relayboard/EmergencyStopState |
cob_sound/SayTextRequest |
cob_sound/SayTextResponse |
cob_srvs/GetPoseStampedTransformedRequest |
cob_srvs/GetPoseStampedTransformedResponse |
cob_srvs/SetDefaultVelRequest |
cob_srvs/SetDefaultVelResponse |
cob_srvs/SetJointStiffnessRequest |
cob_srvs/SetJointStiffnessResponse |
cob_srvs/SetJointTrajectoryRequest |
cob_srvs/SetJointTrajectoryResponse |
cob_srvs/SetMaxVelRequest |
cob_srvs/SetMaxVelResponse |
cob_srvs/SetOperationModeRequest |
cob_srvs/SetOperationModeResponse |
cob_srvs/TriggerRequest |
cob_srvs/TriggerResponse |
grizzly_msgs/Drive |
grizzly_msgs/RawStatus |
jsk_gui_msgs/DeviceSensorALL |
jsk_gui_msgs/Imu |
moveit_msgs/GetConstraintAwarePositionIKRequest |
moveit_msgs/GetConstraintAwarePositionIKResponse |
moveit_msgs/GetKinematicSolverInfoRequest |
moveit_msgs/GetKinematicSolverInfoResponse |
rmp_msgs/AudioCommand |
rmp_msgs/Battery |
rmp_msgs/BoolStamped |
rmp_msgs/FaultStatus |
rmp_msgs/MotorStatus |
rocon_std_msgs/GetPlatformInfoRequest |
rocon_std_msgs/GetPlatformInfoResponse |
rocon_std_msgs/PlatformInfo |
rosserial_msgs/RequestMessageInfoRequest |
rosserial_msgs/RequestMessageInfoResponse |
R2022a: Message Packages Deprecated in ROS Noetic
Message Packages |
---|
cob_camera_sensors |
cob_kinematics |
cob_relayboard |
cob_trajectory_controller |
hrpsys_gazebo_msgs |
iai_pancake_perception_action |
jaco_msgs |
linux_hardware |
lizi |
mln_robosherlock_msgs |
mongodb_store_msgs |
monocam_settler |
nao_interaction_msgs |
nao_msgs |
network_monitor_udp |
nmea_msgs |
p2os_driver |
pano_ros |
pcl_msgs |
play_motion_msgs |
program_queue |
rosauth |
saphari_msgs |
scanning_table_msgs |
segbot_gui |
sherlock_sim_msgs |
simple_robot_control |
sr_ronex_msgs |
statistics_msgs |
underwater_sensor_msgs |
uuid_msgs |
yocs_msgs |
R2021a: ROS Message Structures
You can now create messages as structures with fields matching the message object properties. Using structures typically improves performance of creating, updating, and using ROS messages, but message fields are no longer validated when set. Message types and corresponding field values from the structures are validated when sent across the network.
To use ROS messages as structures, use the "DataFormat"
name-value
argument when creating your publishers, subscribers, or other ROS objects. Any messages
generated from these objects will utilize structures.
pub = rospublisher("/scan","sensor_msgs/LaserScan","DataFormat","struct") msg = rosmessage(pub)
You can also create messages as structures directly, but make sure to specify the data
format as "struct"
for the publisher, subscriber, or other ROS objects as
well. ROS objects still use message objects by default.
msg = rosmessage("/scan","sensor_msgs/LaserScan","DataFormat","struct") ... pub = rospublisher("/scan","sensor_msgs/LaserScan","DataFormat","struct")
In a future release, ROS messages will use structures by default and ROS message objects will be removed.
For more information, see Improve Performance of ROS Using Message Structures.
See Also
Functions
Objects
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