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 or ROS 2 message types. For examples of accessing data from these sensors, see Work with Specialized ROS Messages.

Functions

expand all

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
`rosReadRGB`	Extract RGB color values from ROS or ROS 2 point cloud 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
`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

Topics

Work with Specialized ROS Messages
Some commonly used ROS messages store data in a format that requires some transformation before it can be used for further processing.
Work with Velodyne ROS Messages
Velodyne ROS messages store data in a format that requires some interpretation before it can be used for further processing.
Improve Performance of ROS Using Message Structures
This example demonstrates the use of ROS message structures, and their benefits and differences from message objects.