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Read 3-D map from Octomap ROS message


map = rosReadOccupancyMap3D(msg) reads the data inside a ROS 'octomap_msgs/Octomap' message to return an occupancyMap3D (Navigation Toolbox) object. All message data values are converted to probabilities from 0 to 1.

Input Arguments

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Octomap ROS message, specified as a structure of message type 'octomap_msgs/Octomap'. Get this message by subscribing to an 'octomap_msgs/Octomap' topic using rossubscriber on a live ROS network or by creating your own message using rosmessage.

Output Arguments

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3-D occupancy map, returned as an occupancyMap3D (Navigation Toolbox) object handle.

Introduced in R2021a