Return scan angles for laser scan range readings
calculates the scan angles,
angles = readScanAngles(
angles, corresponding to the
range readings in the laser scan message,
scan. Angles are
measured counterclockwise around the positive z-axis, with
the zero angle along the x-axis. The
angles is returned in radians and wrapped to the [
Load sample ROS messages including a ROS laser scan message,
Read the scan angles from the laser scan.
angles = readScanAngles(scan)
angles = 640×1 -0.5467 -0.5450 -0.5433 -0.5416 -0.5399 -0.5382 -0.5364 -0.5347 -0.5330 -0.5313 ⋮
scan— Laser scan message
'sensor_msgs/LaserScan' ROS message, specified as a
LaserScan object handle.
angles— Scan angles for laser scan data
Scan angles for laser scan data, returned as an n-by-1
matrix in radians. Angles are measured counter-clockwise around the positive
z-axis, with the zero angle along the
angles is returned
in radians and wrapped to the [ –
Not recommended starting in R2021a
You can now create messages as structures with fields matching the message object properties. Using structures typically improves performance of creating, updating, and using ROS messages, but message fields are no longer validated when set. Message types and corresponding field values from the structures are validated when sent across the network.
To support message structures as inputs, new functions that operate on specialized ROS messages have been provided. These new functions are based on the existing object functions of message objects, but support ROS and ROS 2 message structures as inputs instead of message objects.
The object functions will be removed in a future release.
|Message Types||Object Function Name||New Function Name|