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

Objects

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ROS Message Objects

`CompressedImage`	Create compressed image message
`Image`	Create image message
`LaserScan`	Create laser scan message
`OccupancyGrid`	Create occupancy grid message
`PointCloud2`	Access point cloud messages
`velodyneROSMessageReader`	Read Velodyne ROS messages

Functions

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Images

`readImage`	Convert ROS image data into MATLAB image
`writeImage`	Write MATLAB image to ROS image message

Laser Scans

`readCartesian`	Read laser scan ranges in Cartesian coordinates
`readScanAngles`	Return scan angles for laser scan range readings
`plot`	Display laser or lidar scan readings

Point Clouds

`readXYZ`	Extract XYZ coordinates from point cloud data
`readRGB`	Extract RGB values from point cloud data
`readAllFieldNames`	Get all available field names from ROS point cloud
`readField`	Read point cloud data based on field name
`scatter3`	Display point cloud in scatter plot

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