ROS Specialized Messages

Access messages from specialized sensors and inputs

Specialized message functions enable you to create and access sensors and data types using specific ROS and ROS 2 message types. You can use the same functions to work with specific ROS and ROS 2 specialized message types. For examples of accessing data from these sensors, see Work with Specialized ROS Messages.

Functions

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Images

`rosReadImage`	Convert ROS or ROS 2 image data into MATLAB image
`rosWriteImage`	Write MATLAB image to ROS or ROS 2 image message
`rosWriteCameraInfo`	Write monocular or stereo camera parameters to ROS or ROS 2 message structure

Laser Scans

`rosReadLidarScan`	Display lidar scan or point cloud from ROS or ROS 2 message structure
`rosReadCartesian`	Read laser scan ranges in Cartesian coordinates from ROS or ROS 2 message structure
`rosReadScanAngles`	Return scan angles from ROS or ROS 2 message structure
`rosPlot`	Display lidar scan or point cloud from ROS or ROS 2 message structures

Point Clouds

`rosReadXYZ`	Extract XYZ coordinates from ROS or ROS 2 point cloud message structure
`rosWriteXYZ`	Write data points in x, y and z coordinates to a ROS or ROS 2 PointCloud2 message structure
`rosReadRGB`	Extract RGB color values from ROS or ROS 2 point cloud message structure
`rosWriteRGB`	Write RGB color information to a ROS or ROS 2 PointCloud2 message structure
`rosReadAllFieldNames`	Get all available field names from ROS or ROS 2 point cloud message structure
`rosReadField`	Read point cloud data from ROS or ROS 2 message structure based on field name
`rosWriteIntensity`	Write intensity data points to a ROS or ROS 2 PointCloud2 message structure
`rosPlot`	Display lidar scan or point cloud from ROS or ROS 2 message structures

Quaternions

rosReadQuaternion Create MATLAB quaternion object from ROS or ROS 2 message structure

Velodyne ROS Messages

`velodyneROSMessageReader`	Read Velodyne ROS messages
`hasFrame`	Determine if another Velodyne point cloud is available in the ROS messages
`readFrame`	Read point cloud frame from ROS message
`reset`	Reset `CurrentTime` property of `velodyneROSMessageReader` object to default value

Occupancy Maps

`rosReadBinaryOccupancyGrid`	Read binary occupancy grid data from ROS or ROS 2 message structure
`rosReadOccupancyGrid`	Read occupancy grid data from ROS or ROS 2 message structure
`rosReadOccupancyMap3D`	Read 3-D map from ROS or ROS 2 `Octomap` message structure
`rosWriteBinaryOccupancyGrid`	Write values from binary occupancy grid to ROS or ROS 2 message structure
`rosWriteOccupancyGrid`	Write values from occupancy grid to ROS or ROS 2 message structure

Blocks

Read Image	Extract image from ROS Image message
Read Scan	Extract scan data from ROS or ROS 2 laser scan message
Read Point Cloud	Extract point cloud from ROS PointCloud2 message
Write Image	Write image data to a ROS or ROS 2 message
Write Point Cloud	Write point cloud data to a ROS or ROS 2 message

Topics

Specialized ROS Messages

Work with Specialized ROS Messages
Handle message types for laser scans, uncompressed and compressed images, point clouds, camera info, occcupancy grid, and octomap messages.
Work with Velodyne ROS Messages
Handle VelodyneScan messages from a Velodyne LiDAR.
Improve Performance of ROS Using Message Structures
Demonstrates the use of ROS message structures, and their benefits and differences from message objects.