Specialized Messages

Access ROS 2 and ROS 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

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Images

`rosReadImage`	Convert ROS or ROS 2 image data into MATLAB image (Since R2021a)
`rosWriteImage`	Write MATLAB image to ROS or ROS 2 image message (Since R2021a)
`rosWriteCameraInfo`	Write monocular or stereo camera parameters to ROS or ROS 2 message structure (Since R2022a)

Laser Scans

`rosReadLidarScan`	Display lidar scan or point cloud from ROS or ROS 2 message structure (Since R2021a)
`rosReadCartesian`	Read laser scan ranges in Cartesian coordinates from ROS or ROS 2 message structure (Since R2021a)
`rosReadScanAngles`	Return scan angles from ROS or ROS 2 message structure (Since R2021a)
`rosPlot`	Display lidar scan or point cloud from ROS or ROS 2 message structures (Since R2021a)

Point Clouds

`rosReadXYZ`	Extract XYZ coordinates from ROS or ROS 2 point cloud message structure (Since R2021a)
`rosWriteXYZ`	Write data points in x, y and z coordinates to a ROS or ROS 2 PointCloud2 message structure (Since R2023a)
`rosReadRGB`	Extract RGB color values from ROS or ROS 2 point cloud message structure (Since R2021a)
`rosWriteRGB`	Write RGB color information to a ROS or ROS 2 PointCloud2 message structure (Since R2023a)
`rosReadAllFieldNames`	Get all available field names from ROS or ROS 2 point cloud message structure (Since R2021a)
`rosReadField`	Read point cloud data from ROS or ROS 2 message structure based on field name (Since R2021a)
`rosWriteIntensity`	Write intensity data points to a ROS or ROS 2 PointCloud2 message structure (Since R2023a)
`rosPlot`	Display lidar scan or point cloud from ROS or ROS 2 message structures (Since R2021a)

Quaternions

`rosReadQuaternion`	Create MATLAB quaternion object from ROS or ROS 2 message structure (Since R2021a)
`quaternion`	Create quaternion array (Since R2023b)

Occupancy Maps

`rosReadBinaryOccupancyGrid`	Read binary occupancy grid data from ROS or ROS 2 message structure (Since R2021a)
`rosReadOccupancyGrid`	Read occupancy grid data from ROS or ROS 2 message structure (Since R2021a)
`rosReadOccupancyMap3D`	Read 3-D map from ROS or ROS 2 `Octomap` message structure (Since R2021a)
`rosWriteBinaryOccupancyGrid`	Write values from binary occupancy grid to ROS or ROS 2 message structure (Since R2021a)
`rosWriteOccupancyGrid`	Write values from occupancy grid to ROS or ROS 2 message structure (Since R2021a)

Transformations

`rosReadTransform`	Return transformation from ROS or ROS 2 `TransformStamped` message structure (Since R2023b)
`rosApplyTransform`	Transform ROS and ROS 2 message entities into target frame (Since R2021a)
`se3`	SE(3) homogeneous transformation (Since R2023b)
`so3`	SO(3) rotation (Since R2023b)
`se2`	SE(2) homogeneous transformation (Since R2023b)
`so2`	SO(2) rotation (Since R2023b)

Velodyne ROS Messages

`velodyneROSMessageReader`	Read Velodyne ROS messages
`hasFrame`	Determine if another Velodyne point cloud is available in the ROS messages
`readFrame`	Read point cloud frame from ROS message
`reset`	Reset `CurrentTime` property of `velodyneROSMessageReader` object to default value

Ouster ROS Messages

`ousterROSMessageReader`	Read Ouster ROS messages (Since R2024a)
`hasFrame`	Determine if another Ouster point cloud is available in the ROS messages (Since R2024a)
`readFrame`	Read Ouster point cloud frame from ROS message (Since R2024a)
`reset`	Reset `CurrentTime` property of `ousterROSMessageReader` object to default value (Since R2024a)

Blocks

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Images

Read Image	Extract image from ROS Image message
Read Image	Extract image from ROS 2 `Image` message (Since R2021b)
ROS Write Image, ROS 2 Write Image	Write image data to a ROS or ROS 2 message (Since R2022a)

Laser Scans

ROS Read Scan, ROS 2 Read Scan

Extract scan data from ROS or ROS 2 laser scan message (Since R2022a)

Point Clouds

Read Point Cloud	Extract point cloud from ROS PointCloud2 message
Read Point Cloud	Extract point cloud from ROS 2 `PointCloud2` message (Since R2021b)
ROS Write Point Cloud, ROS 2 Write Point Cloud	Write point cloud data to a ROS or ROS 2 message (Since R2022a)

Transformations

ROS Apply Transform, ROS 2 Apply Transform	Transform input ROS or ROS 2 message to target frame (Since R2023b)
Get Transform	Get transformation between source and target frame from ROS network (Since R2023b)
Get Transform	Get transformation between source and target frame from ROS 2 network (Since R2023b)

Topics

Specialized ROS Messages

Work with Specialized ROS Messages
Handle message types for laser scans, uncompressed and compressed images, point clouds, camera info, occupancy grid, and octomap messages.
Work with Velodyne ROS Messages
Handle VelodyneScan messages from a Velodyne LiDAR.
Improve Performance of ROS Using Message Structures
Demonstrates the use of ROS message structures, and their benefits and differences from message objects.