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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.

Functions

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rosReadImageConvert ROS image data into MATLAB image
rosWriteImageWrite MATLAB image to ROS image message
rosReadLidarScanDisplay lidar scan or point cloud from ROS message structures
rosReadCartesianRead laser scan ranges in Cartesian coordinates
rosReadScanAnglesReturn scan angles for laser scan range readings
rosPlotDisplay lidar scan or point cloud from ROS message structures
rosReadXYZExtract XYZ coordinates from point cloud data
rosReadRGBExtract RGB values from point cloud data
rosReadAllFieldNamesGet all available field names from ROS point cloud
rosReadFieldRead point cloud data based on field name
rosPlotDisplay lidar scan or point cloud from ROS message structures
rosReadQuaternionDisplay lidar scan or point cloud from ROS message structures
velodyneROSMessageReaderRead Velodyne ROS messages
hasFrameDetermine if another Velodyne point cloud is available in the ROS messages
readFrameRead point cloud frame from ROS message
resetReset CurrentTime property of velodyneROSMessageReader object to default value
rosReadBinaryOccupancyGridRead binary occupancy grid
rosReadOccupancyGridRead occupancy grid message
rosReadOccupancyMap3DRead 3-D map from Octomap ROS message
rosWriteBinaryOccupancyGridWrite values from grid to ROS message
rosWriteOccupancyGridWrite values from grid to ROS message

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.