receive

等待新的ROS消息

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Syntax

味精=接收（sub)

msg =接收（sub，timeout）

[msg,status,statustext] = receive(___)

描述

example

味精=接收（sub)等待MATLAB^®to receive a topic message from the specified subscriber,sub，并将其归还味精.

味精=接收（sub,timeout)指定timeoutthe number of seconds to wait for a message. If a message is not received within the timeout limit, this function will display an error.

example

[味精,status,statustext] = receive(___)返回一个statusindicating whether a message has been received successfully, and astatustext捕获abo血型的额外信息ut thestatus，使用先前语法中的任何参数。如果发生错误条件，例如指定超时内未收到的消息，则statuswill befalse, and this function will not display an error.

Examples

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Create A Subscriber and Get Data From ROS

打开实时脚本

连接到ROS网络。设置样本ROS网络。这'/scan'topic is being published on the network.

石榴石

在2.3104秒内启动Ros Core...。在http://192.168.0.0.10:53277初始化ROS Master。初始化全局节点/matlab_global_node_20625 with nodeuri http：//dcc282524glnxa64：46327/

exampleHelperROSCreateSampleNetwork

为'/scan'使用消息结构的主题。等待订户向主人注册。

sub = rossubscriber('/scan',“ dataformat',“结构”); pause(1);

从订户接收数据作为ROS消息结构。指定10秒的超时。

[msg2,status,statustext] = receive(sub,10)

味精2 =struct with fields:信息Type: 'sensor_msgs/LaserScan' Header: [1x1 struct] AngleMin: -0.5467 AngleMax: 0.5467 AngleIncrement: 0.0017 TimeIncrement: 0 ScanTime: 0.0330 RangeMin: 0.4500 RangeMax: 10 Ranges: [640x1 single] Intensities: []

status =logical1

statustext = 'success'

关闭样本网络使用的计时器。

示例Helperrosshutdownsamplenetwork

Shut down ROS network.

rosshutdown

Shutting down global node /matlab_global_node_20625 with NodeURI http://dcc282524glnxa64:46327/ Shutting down ROS master on http://192.168.0.10:53277.

Input Arguments

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`sub`—ROS subscriber
`Subscriber`object handle

ROS订户，指定为Subscriberobject handle. You can create the subscriber usingrossubscriber.

`timeout`—Timeout for receiving a message
scalar in seconds

Timeout for receiving a message, specified as a scalar in seconds.

Output Arguments

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`味精`- ROS消息
`信息`对象处理|结构体

ROS消息，返回为信息object handle or structure.

Note

在以后的版本中ROS Toolbox将使用消息结构而不是ROS消息的对象。

To use message structures now, set the"DataFormat"名称值参数“结构”. For more information, seeROS Message Structures.

`status`— Status of the message reception
`logical`scalar

Status of the message reception, returned as alogicalscalar. If no message is received, status will befalse.

Note

Use thestatusoutput argument when you use receive in the entry-point function for code generation. This will avoid runtime errors outputs the status instead, which can be reacted to in the calling code.

`statustext`— Status text associated with the message reception status
character vector

与消息接收相关的状态文本，作为以下内容之一返回：

'成功'- 消息已成功收到。
'timeout'- 在指定的超时内未收到该消息。
'unknown'— The message was not received due to unknown errors.

提示

For code generation:

Use thestatusoutput argument when you callreceivein the entry-point function. This will avoid runtime errors and instead, outputs the status of message reception, which can be reacted to in the calling code.

兼容性考虑

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ROS Message Structures

将来发行的行为变化

You can now create messages as structures with fields matching the message object properties. Using structures typically improves performance of creating, updating, and using ROS messages, but message fields are no longer validated when set. Message types and corresponding field values from the structures are validated when sent across the network.

To use ROS messages as structures, use the"DataFormat"name-value argument when creating your publishers, subscribers, or other ROS objects. Any messages generated from these objects will utilize structures.

pub = rospublisher("/scan","sensor_msgs/LaserScan","DataFormat",“结构”) msg = rosmessage(pub)

You can also create messages as structures directly, but make sure to specify the data format as“结构”对于发布者，订户或其他ROS对象。ROS对象默认情况下仍然使用消息对象。

味精= rosmessage("/scan","sensor_msgs/LaserScan","DataFormat",“结构”)...pub = rospublisher("/scan","sensor_msgs/LaserScan","DataFormat",“结构”)

在以后的版本中ROS messages will use structures by default and ROS message objects will be removed.

有关更多信息，请参阅使用消息结构提高ROS的性能.

Extended Capabilities

C/C++ Code Generation
使用MATLAB®CODER™生成C和C ++代码。

Usage notes and limitations:

金宝app仅支持structmessages.
To monitor the message reception status and react in the calling code, use thestatusoutput argument. This will avoid runtime errors when no message is received.

receive

Syntax

描述

Examples

Create A Subscriber and Get Data From ROS

Input Arguments

`sub`—ROS subscriber
`Subscriber`object handle

`timeout`—Timeout for receiving a message
scalar in seconds

Output Arguments

`味精`- ROS消息
`信息`对象处理|结构体

`status`— Status of the message reception
`logical`scalar

`statustext`— Status text associated with the message reception status
character vector

提示

兼容性考虑

ROS Message Structures

Extended Capabilities

C/C++ Code Generation
使用MATLAB®CODER™生成C和C ++代码。

See Also

Topics

ROS工具箱文档

金宝app

matlabおよび金宝appsimulinkによるによる移动开発开発开発

receive

Syntax

描述

Examples

Create A Subscriber and Get Data From ROS

Input Arguments

sub—ROS subscriberSubscriberobject handle

timeout—Timeout for receiving a messagescalar in seconds

Output Arguments

味精- ROS消息信息对象处理|结构体

status— Status of the message receptionlogicalscalar

statustext— Status text associated with the message reception statuscharacter vector

提示

兼容性考虑

ROS Message Structures

Extended Capabilities

C/C++ Code Generation使用MATLAB®CODER™生成C和C ++代码。

See Also

Topics

ROS工具箱文档

金宝app

matlabおよび金宝appsimulinkによるによる移动开発开発开発

`sub`—ROS subscriber
`Subscriber`object handle

`timeout`—Timeout for receiving a message
scalar in seconds

`味精`- ROS消息
`信息`对象处理|结构体

`status`— Status of the message reception
`logical`scalar

`statustext`— Status text associated with the message reception status
character vector

C/C++ Code Generation
使用MATLAB®CODER™生成C和C ++代码。