ROS 特化メッセージ

特化したセンサーおよび入力からのメッセージにアクセスする

特化したメッセージ関数を使用すると、特定の ROS メッセージタイプを使用したセンサーおよびデータ型の作成、およびそのアクセスができます。これらのセンサーからデータにアクセスする例は、Work with Specialized ROS Messagesを参照してください。

関数

`rosReadImage`	ROS イメージデータを MATLAB イメージに変換
`rosWriteImage`	Write MATLAB image to ROS or ROS 2 image message

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

`rosReadXYZ`	点群データからの XYZ 座標の抽出
`rosReadRGB`	点群データから RGB 値を抽出
`rosReadAllFieldNames`	Get all available field names from ROS or ROS 2 point cloud message structure
`rosReadField`	Read point cloud data from ROS or ROS 2 message structure based on field name
`rosPlot`	Display lidar scan or point cloud from ROS or ROS 2 message structures

rosReadQuaternion Create MATLAB quaternion object from ROS or ROS 2 message structure

`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

`rosReadBinaryOccupancyGrid`	Read binary occupancy grid data from ROS or ROS 2 message structure
`rosReadOccupancyGrid`	Read occupancy grid data from ROS or ROS 2 message structure
`rosReadOccupancyMap3D`	Octomap ROS メッセージからの 3 次元マップの読み取り
`rosWriteBinaryOccupancyGrid`	Write values from binary occupancy grid to ROS or ROS 2 message structure
`rosWriteOccupancyGrid`	Write values from occupancy grid to ROS or ROS 2 message structure

Work with Specialized ROS Messages
Some commonly used ROS messages store data in a format that requires some transformation before it can be used for further processing. MATLAB® can help you by formatting these specialized ROS messages for easy use. In this example, you explore how to handle message types for laser scans, uncompressed and compressed images, point clouds, camera info, occcupancy grid, and octomap messages.
Work with Velodyne ROS Messages
Velodyne ROS messages store data in a format that requires some interpretation before it can be used for further processing. MATLAB® can help you by formatting Velodyne ROS messages for easy use. In this example, you can explore how VelodyneScan messages from a Velodyne LiDAR are handled.
Improve Performance of ROS Using Message Structures
This example demonstrates the use of ROS message structures, and their benefits and differences from message objects.