ROS Specialized Messages
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, seeWork with Specialized ROS Messages.
Functions
Images
rosReadImage |
Convert ROS or ROS 2 image data intoMATLABimage |
rosWriteImage |
WriteMATLABimage 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 |
ReadVelodyneROS messages |
hasFrame |
Determine if anotherVelodynepoint cloud is available in the ROS messages |
readFrame |
Read point cloud frame from ROS message |
reset |
ResetCurrentTime property ofvelodyneROSMessageReader 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 2Octomap 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.
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