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access messages from specialized sensors and inputs

specialized message functions enable you to create and access sensors and data types using specific ros and ros 2 message types. you can use the same functions to work with specific ros and ros 2 specialized message types. for examples of accessing data from these sensors, see work with specialized ros messages.

functions

images

	convert ros or ros 2 image data into matlab image
	write matlab image to ros or ros 2 image message
	write monocular or stereo camera parameters to ros or ros 2 message structure

laser scans

	display lidar scan or point cloud from ros or ros 2 message structure
	read laser scan ranges in cartesian coordinates from ros or ros 2 message structure
	return scan angles from ros or ros 2 message structure
	display lidar scan or point cloud from ros or ros 2 message structures

point clouds

	extract xyz coordinates from ros or ros 2 point cloud message structure
	write data points in x, y and z coordinates to a ros or ros 2 pointcloud2 message structure
	extract rgb color values from ros or ros 2 point cloud message structure
	write rgb color information to a ros or ros 2 pointcloud2 message structure
	get all available field names from ros or ros 2 point cloud message structure
	read point cloud data from ros or ros 2 message structure based on field name
	write intensity data points to a ros or ros 2 pointcloud2 message structure
	display lidar scan or point cloud from ros or ros 2 message structures

quaternions

create matlab quaternion object from ros or ros 2 message structure

velodyne ros messages

	read velodyne ros messages
	determine if another velodyne point cloud is available in the ros messages
	read point cloud frame from ros message
	reset `currenttime` property of `velodynerosmessagereader` object to default value

occupancy maps

	read binary occupancy grid data from ros or ros 2 message structure
	read occupancy grid data from ros or ros 2 message structure
	read 3-d map from ros or ros 2 `octomap` message structure
	write values from binary occupancy grid to ros or ros 2 message structure
	write values from occupancy grid to ros or ros 2 message structure

blocks

	extract image from ros image message
	extract scan data from ros or ros 2 laser scan message
	extract point cloud from ros pointcloud2 message
	write image data to a ros or ros 2 message
	write point cloud data to a ros or ros 2 message

topics

specialized ros messages

work with specialized ros messages
handle message types for laser scans, uncompressed and compressed images, point clouds, camera info, occcupancy grid, and octomap messages.
handle velodynescan messages from a velodyne lidar.
demonstrates the use of ros message structures, and their benefits and differences from message objects.