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How to publish image to ROS in Simulink
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I use the function writeImage() in matlab function to write a MATLAB image to the ROS image message,but when I run the simulink model, an error appears: Undefined function or variable 'writeImage'. How to solve this problem? How to publish image to ROS in Simulink?
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JAI PRAKASH
el 4 de Nov. de 2018
If your matlab image is 'RGB' matrix, you can use following matlab function block + Bus assignment block as shown in figure.
function [H, W, Enc, EncLength, IsBig, Step, Data, DataLength] = fcn(im)
[H, W, n] = size(im);
H =uint32(H); W =uint32(W);
im = permute(im,[2 1 3]);
Data1 = im(:);
Data2 = reshape(Data1,[H*W,n])';
Data = Data2(:);
Enc = zeros(1,128, 'uint8');
Enc(1:4) = uint8('rgb8'); % uint8('rgb8')
EncLength = uint32(4);
IsBig = uint8(0);
Step = uint32(W*n);
DataLength = uint32(H*W*n);
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/194296/image.jpeg)
See the attached simulink readymade block also to convert MAT image to ros image message.
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Syed Adil Ahmed
el 21 de Oct. de 2020
For those interested you can fix the non matching size of the Data bus variable by changing array sizes in Simulink for ros. This option is under tools> ROS in simulink.
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