ROS Write Image, ROS 2 Write Image

R2026b

Write image data to a ROS or ROS 2 message

Since R2022a

• 

Write Image Block block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

Libraries:
ROS Toolbox / ROS
ROS Toolbox / ROS 2

Description

The Write Image block writes image data to a ROS or ROS 2 image message. You can specify the encoding for the output image message. Use the ROS Publish or ROS 2 Publish block to publish the output image message to an active topic on the network.

Examples

Write a ROS Image Message in Simulink

Write a image message and publish it to a ROS network in Simulink^®.

• Open Script

Ports

Input

Image — Input image signal

M-by-N-by-3 matrix | M-by-N matrix

Image pixel data, specified as an M-by-N-by-3 matrix for color images, and an M-by-N matrix for grayscale images.

Data Types: single | double | int8 | int16 | int32 | uint8 | uint16

AlphaChannel — Alpha channel for input image

M-by-N matrix

Alpha channel for image, specified as an M-by-N matrix. This matrix is the same height and width as the image input. Each element has a value in the range [0,1] that indicates the opacity of the corresponding pixel, with a value of 0 being completely transparent.

Dependencies

The selected image encoding must support alpha channel.

Data Types: single | double | int8 | int16 | int32 | uint8 | uint16

Output

Msg — ROS or ROS 2 image message

nonvirtual bus

ROS or ROS 2 image message, returned as a nonvirtual bus. You can use the ROS Publish or ROS 2 Publish block to publish the message to an active ROS or ROS 2 network respectively.

Data Types: bus

Parameters

Image Encoding — Image encoding

rgb8 (default) | rgba8 | ...

Image encoding for the input Image, specified as one of the supported options. For more information about encoding types, see rosReadImage.

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"robotlib/Write Image"

"ros2lib/Write Image"

Example: add_block("robotlib/Write Image","myModel/myBlock",MakeNameUnique="on")

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2022a