How can I subscribe to Image topic on ROS Matlab and obtain the RGB image?

Hello,

Please, how can I extract an image from a ROS Image Message followed by an imshow? I have already subscribed to the correct topic but message.getData() gives me a SlicedChannelBuffer object. Thanks,

Pedro

Answer 1

[Shantanu]

%Connect to Remote Machine

ip="Your IP Address";

rosinit(ip);

%Command Velocity Publisher

robotCmd = rospublisher("/cmd_vel","DataFormat","struct") ;

velMsg = rosmessage(robotCmd);

%Camera Subscriber

img_sub = rossubscriber("/camera/rgb/image_raw","DataFormat","struct");

%Publish a constant angular velocity

velMsg.Angular.Z=0.5;

send(robotCmd,velMsg);

% Start timer

tic;

figure

while toc < 20

%Image

im = receive(img_sub);

image = rosReadImage(im);

imshow(image);

end

velMsg.Angular.Z=0.0;

send(robotCmd,velMsg);

rosshutdown;

disp("Network Shutdown");